ergoCub 1.0 S/N:000 – align config files with distro 2023.05.02

[sgiraz]

What's new:

• The configuration files of ergoCub 1.0 S/N000. In particular, the configuration files are now aligned with the FW versions contained in icub-firmware-build@v1.35.1.
• the calibration values for the hands of ergoCub 1.0 S/N000 are now as expected

Notes:

• ⚠️ Without these changes the last distro of [robotology-superbuild@v2023.05.02)2] does not work using the latest FW contained in icub-firmware-build@v1.35.1.
• Actually the robots-configuration repository inside the robotology superbuild on the ergocub-torso is set on a local master branch containing these changes

cc @pattacini @AntonioConsilvio @MSECode @Nicogene @martinaxgloria @mfussi66 @isorrentino @Miche19 @GiulioRomualdi @S-Dafarra

[pattacini]

Thanks @sgiraz!

Just put in draft because we ought to wait https://github.com/robotology/icub-firmware/pull/398 to be merged. Afterward, we need to update the AMCBLDC FW versions.

[S-Dafarra]

Hi @sgiraz, @pattacini the current status of the configuration files is a bit messy, as the robot won't start without the modifications of this PR. What would be the plan to merge this?

[pattacini]

Hi @S-Dafarra

Yep, we're aware that this PR is somewhat lagging. There were a number of issues preventing the merge, which should be almost all sorted out.

We've been monitoring this task, which is kind of blocking:

• https://github.com/robotology/robots-configuration/pull/548

However, we'll try to merge the PR today anyway, and align the FW binaries on the robot accordingly.

Stay tuned. cc @sgiraz

[sgiraz]

Hi guys,

Today @AntonioConsilvio and I have applied the following changes on the config files:

• Update the right-arm strain2 (connected to eb1) Bootloader to the most recent version.
• Update the right-arm strain2 (connected to eb1) FW application to 2.2.0 (previous was 2.1.0)
• Update the amcbldc to 2.0.4 which now displays the right FW application version on the FirmwareUpdater (previously tested on lego-setup)

Note We believe that the issue with updating the right-arm strain2 FW was caused by a problem with the EMS eb1 mounted on the torso. We will open an internal issue to investigate this further. At the moment we can safely merge this PR!

A new PR will follow to fix the calibration values for the fingers:

• https://github.com/robotology/robots-configuration/pull/548

cc @pattacini @Nicogene @S-Dafarra @lrapetti

[pattacini]

Thanks @sgiraz!