Merge branch 'icub-tech-iit:master' into master

simeonedussoni · Nov 23, 2023 · 26e9c4f · 26e9c4f
2 parents 356a8a1 + ca161d7
commit 26e9c4f
Show file tree

Hide file tree

Showing 8 changed files with 143 additions and 63 deletions.
diff --git a/docs/ergocub_operating_systems/index.md b/docs/ergocub_operating_systems/index.md
@@ -4,9 +4,11 @@ This manual describes how to install and customize the linux operating systems r
 
 The ergoCub robot relies on two machines: `ergocub-head`, a [`NVIDIA Jetson Xavier AGX`](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-xavier-series/) used to control the realsense camera, the lidar and the OLED display, and `ergocub-torso`, which is a [`COM express type 10`](https://www.advantech.com/en-eu/products/0a009637-4f9d-4541-8624-a55de3ffb2a6/som-7583/mod_17ca9251-bdf5-4f74-9256-edd63a373b39) that controls the motors.
 
+These machines are nodes of the [ergoCub network](network.md).
+
 # OS configurations
 
-The following guides will help you to properly configure the OS for the specific board.
+The following guides will help you properly configure the OS for the specific board.
 
 - [ergocub-head](../icub_operating_systems/icubos/jetpack.md)
 - [ergocub-torso](ergocub_torso/install_from_scratch.md)

diff --git a/docs/hands/fingertip_and_mma_mk5.md b/docs/hands/fingertip_and_mma_mk5.md
@@ -266,4 +266,4 @@ The values for the mk2 fingertip are reported here, to be implemented in **.xml
 [^2]: The No load value can be choosen to be lower than 0xF0 (240) to allow for some room for opposite polarity signals to be recorded. In this case, the set level must be forwarded to high level tools such as SkinGUI etc. for a proper managing of events. A nice choice could be a value of about 0xC0 (192) to have ~60 ADC counts of headroom for opposite sign forces, i.e., shear forces, to be measured with the lateral taxels or elastic effects for non-touched taxels to improve force measurement.
 
 ### Encoders mapping in the configuration files
-TO BE FILLED AFTER FW WORK DONE.
+🚧 WIP 🚧
diff --git a/docs/icub_operating_systems/icubos/user-env.md b/docs/icub_operating_systems/icubos/user-env.md
@@ -42,34 +42,36 @@ the above files must be renamed to `.bashrc_iCub` and saved in the user home dir
 ## How to setup the enviroment properly
 
 To use the `~/.bashrc_iCub` file to setup the environment, the following lines:
-```
-#Load the iCub custom bashrc
-if [ "$HOME" != "" ]; then
-  ICUBRC_FILE="${HOME}/.bashrc_iCub"
-else
-  ICUBRC_FILE="/home/icub/.bashrc_iCub"
-fi
-if [ -f "$ICUBRC_FILE" ]; then
-  source $ICUBRC_FILE
+```bash
+if [[ $- == *i* ]] || [[ -n "$SSH_CLIENT" ]] || [[ -n "$SSH_TTY" ]]; then
+  #Load the iCub custom bashrc
+  if [ "$HOME" != "" ]; then
+      ICUBRC_FILE="${HOME}/.bashrc_iCub"
+  else
+      ICUBRC_FILE="/home/icub/.bashrc_iCub"
+  fi
+  if [ -f "$ICUBRC_FILE" ]; then
+      source $ICUBRC_FILE
+  fi
 fi
 ```
 should be added at the beginning of file `~/.bashrc` just _BEFORE_ the following lines:
-```
+```bash
 # If not running interactively, don't do anything
 case $- in
    *i*) ;;
      *) return;;
 esac
 ```
 
-The reason why the `.bashrc_iCub` needs to be added at the beginning of `~/.bashrc` is that file must be loaded every time a bash session is started, no matter if the session is interactive or not (this is required when we want to start our programs remotely), and the line of code after `# If not running interactively, don't do anything` make the `~/.bashrc` file exit if executed in a non-interactive shell.
+The reason why the `.bashrc_iCub` needs to be added at the beginning of `~/.bashrc` is that file must be loaded every time an interactive or ssh bash sessions are started. The lines of code after `# If not running interactively, don't do anything` make the `~/.bashrc` file exit if executed in a non-interactive shell.
 
 ## Required configuration
 
 To customize the above user environment, you ought to manually make some changes:
 
 - The **YARP_ROBOT_NAME** - you must insert your robot name, in the following line and remove the leading "#"
-```
+```bash
 #export YARP_ROBOT_NAME=
 ```
 

diff --git a/docs/icub_operating_systems/pc104/the-icub-live-details.md b/docs/icub_operating_systems/pc104/the-icub-live-details.md
@@ -89,7 +89,7 @@ The following files, available in the root filesystem contains various informati
 ## iCub startup scripts
 Some scripts must to be executed at startup time, so we need to modify the rc.local file as follows
 
-```
+```bash
 #!/bin/sh
 #
 # rc.local
@@ -129,7 +129,7 @@ exit 0
 
 The above scrits only executes the following script in background
 
-```
+```bash
 #!/bin/sh
 sleep 30
 for TRIALS in 0 1 2 3 4 5 6 7 8 9 ; do
@@ -150,7 +150,7 @@ exit 1
 
 This script is used to mount the remote NFS shares _only when the icub-server that exports them is reachable_
 
-```
+```bash
 #! /bin/bash
 # Mount remote filesystems
 MOUNTS_FILE="/etc/rciCub.d/mounts.list"
@@ -303,50 +303,52 @@ And the file `/etc/hosts` is as follows
 The SKEL `/etc/skel` files are used to generate the desired user environment for the icub user modifying the following files
 
 ### .bashrc
-```
-#Load the iCub custom bashrc
-ICUBRC_FILE="${HOME}/.bashrc_iCub"
-if [ -f "$ICUBRC_FILE" ]; then
-  source $ICUBRC_FILE
-fi
-.bashrc_iCub
-# .bashrc_iCub
-# setup the iCub enviroment
-if [ "$ICUBRC_FILE_LOADED" ]; then
- return
-fi
-export ICUBRC_FILE_LOADED="true"
-if [ "$PS1" ]; then
-  echo "Setting up yarp and iCub env vars"
-fi
-# YARP and iCub enviroment variables
-export ROBOT_CODE=/usr/local/src/robot
-export ICUBcontrib_DIR=$ROBOT_CODE/iCubContrib
-export YARP_ROOT=$ROBOT_CODE/yarp
-export YARP_DIR=$YARP_ROOT/build
-export ICUB_ROOT=${ROBOT_CODE}/icub-main
-export ICUB_DIR=${ICUB_ROOT}/build
-export icub_firmware_shared_DIR=${ROBOT_CODE}/icub-firmware-shared/build
-export YARP_DATA_DIRS=${YARP_DIR}/share/yarp:${ICUB_DIR}/share/iCub:${ICUBcontrib_DIR}/share/ICUBcontrib
-export FIRMWARE_BIN=${ROBOT_CODE}/icub-firmware/build
-# Set the name of your robot here.
-# Please change also the root user password
- export YARP_ROBOT_NAME=
- if [ "$YARP_ROBOT_NAME" = "" ] && [ -f "${ROBOT_CODE}/yarp_robot_name.txt" ]
- then
-   export YARP_ROBOT_NAME=$( head --lines=1 ${ROBOT_CODE}/yarp_robot_name.txt )
- fi
-# Set-up optimizations
-export CMAKE_BUILD_TYPE=Release
-export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin
-# DebugStream customization
-export YARP_VERBOSE_OUTPUT=0
-export YARP_COLORED_OUTPUT=1
-export YARP_TRACE_ENABLE=0
-export YARP_FORWARD_LOG_ENABLE=0
-# To enable tab completion on yarp port names
-if [ -f $YARP_ROOT/scripts/yarp_completion ]; then
-  source $YARP_ROOT/scripts/yarp_completion
+```bash
+if [[ $- == *i* ]] || [[ -n "$SSH_CLIENT" ]] || [[ -n "$SSH_TTY" ]]; then
+    #Load the iCub custom bashrc
+    ICUBRC_FILE="${HOME}/.bashrc_iCub"
+    if [ -f "$ICUBRC_FILE" ]; then
+      source $ICUBRC_FILE
+    fi
+    .bashrc_iCub
+    # .bashrc_iCub
+    # setup the iCub enviroment
+    if [ "$ICUBRC_FILE_LOADED" ]; then
+     return
+    fi
+    export ICUBRC_FILE_LOADED="true"
+    if [ "$PS1" ]; then
+      echo "Setting up yarp and iCub env vars"
+    fi
+    # YARP and iCub enviroment variables
+    export ROBOT_CODE=/usr/local/src/robot
+    export ICUBcontrib_DIR=$ROBOT_CODE/iCubContrib
+    export YARP_ROOT=$ROBOT_CODE/yarp
+    export YARP_DIR=$YARP_ROOT/build
+    export ICUB_ROOT=${ROBOT_CODE}/icub-main
+    export ICUB_DIR=${ICUB_ROOT}/build
+    export icub_firmware_shared_DIR=${ROBOT_CODE}/icub-firmware-shared/build
+    export YARP_DATA_DIRS=${YARP_DIR}/share/yarp:${ICUB_DIR}/share/iCub:${ICUBcontrib_DIR}/share/ICUBcontrib
+    export FIRMWARE_BIN=${ROBOT_CODE}/icub-firmware/build
+    # Set the name of your robot here.
+    # Please change also the root user password
+     export YARP_ROBOT_NAME=
+     if [ "$YARP_ROBOT_NAME" = "" ] && [ -f "${ROBOT_CODE}/yarp_robot_name.txt" ]
+     then
+       export YARP_ROBOT_NAME=$( head --lines=1 ${ROBOT_CODE}/yarp_robot_name.txt )
+     fi
+    # Set-up optimizations
+    export CMAKE_BUILD_TYPE=Release
+    export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin
+    # DebugStream customization
+    export YARP_VERBOSE_OUTPUT=0
+    export YARP_COLORED_OUTPUT=1
+    export YARP_TRACE_ENABLE=0
+    export YARP_FORWARD_LOG_ENABLE=0
+    # To enable tab completion on yarp port names
+    if [ -f $YARP_ROOT/scripts/yarp_completion ]; then
+      source $YARP_ROOT/scripts/yarp_completion
+    fi
 fi
 ```
 

diff --git a/docs/sw_versioning_table/2023.11.0.md b/docs/sw_versioning_table/2023.11.0.md
@@ -0,0 +1,72 @@
+📦 Distro 2023.11.0
+===
+
+| CMake Packages | Repositories | Versions |
+| :--- | :--- | :--- |
+| [**`YCM`**](https://github.com/robotology/ycm.git) | https://github.com/robotology/ycm.git | `v0.15.3` |
+| [**`YARP`**](https://github.com/robotology/yarp.git) | https://github.com/robotology/yarp.git | `v3.8.1` |
+| [**`ICUB`**](https://github.com/robotology/icub-main.git) | https://github.com/robotology/icub-main.git | `v2.4.0` |
+| [**`robots-configuration`**](https://github.com/robotology/robots-configuration.git) | https://github.com/robotology/robots-configuration.git | `v2.5.2` |
+| [**`icub-firmware`**](https://github.com/robotology/icub-firmware.git) | https://github.com/robotology/icub-firmware.git | `v1.37.0` |
+| [**`icub-firmware-models`**](https://github.com/robotology/icub-firmware-models.git) | https://github.com/robotology/icub-firmware-models.git | `v1.37.0` |
+| [**`icub_firmware_shared`**](https://github.com/robotology/icub-firmware-shared.git) | https://github.com/robotology/icub-firmware-shared.git | `v1.37.0` |
+| [**`icub-firmware-build`**](https://github.com/robotology/icub-firmware-build.git) | https://github.com/robotology/icub-firmware-build.git | `v1.37.0` |
+| [**`ICUBcontrib`**](https://github.com/robotology/icub-contrib-common.git) | https://github.com/robotology/icub-contrib-common.git | `v1.19.0` |
+| [**`icub-basic-demos`**](https://github.com/robotology/icub-basic-demos.git) | https://github.com/robotology/icub-basic-demos.git | `v1.24.0` |
+| [**`icub-tests`**](https://github.com/robotology/icub-tests.git) | https://github.com/robotology/icub-tests.git | `v1.25.0` |
+| [**`GazeboYARPPlugins`**](https://github.com/robotology/gazebo-yarp-plugins.git) | https://github.com/robotology/gazebo-yarp-plugins.git | `v4.9.0` |
+| [**`icub-models`**](https://github.com/robotology/icub-models.git) | https://github.com/robotology/icub-models.git | `v2.4.1` |
+| [**`iDynTree`**](https://github.com/robotology/idyntree.git) | https://github.com/robotology/idyntree.git | `v10.0.0` |
+| [**`qpOASES`**](https://github.com/robotology-dependencies/qpOASES.git) | https://github.com/robotology-dependencies/qpOASES.git | `v3.2.0.1` |
+| [**`osqp`**](https://github.com/oxfordcontrol/osqp.git) | https://github.com/oxfordcontrol/osqp.git | `v0.6.3` |
+| [**`manif`**](https://github.com/robotology-dependencies/manif.git) | https://github.com/robotology-dependencies/manif.git | `0.0.4.103` |
+| [**`qhull`**](https://github.com/qhull/qhull.git) | https://github.com/qhull/qhull.git | `2020.2` |
+| [**`CppAD`**](https://github.com/coin-or/CppAD.git) | https://github.com/coin-or/CppAD.git | `20230000.0` |
+| [**`casadi`**](https://github.com/casadi/casadi.git) | https://github.com/casadi/casadi.git | `3.6.3` |
+| [**`ergocub-software`**](https://github.com/icub-tech-iit/ergocub-software.git) | https://github.com/icub-tech-iit/ergocub-software.git | `v0.6.0` |
+| [**`yarp-matlab-bindings`**](https://github.com/robotology/yarp-matlab-bindings.git) | https://github.com/robotology/yarp-matlab-bindings.git | `v3.8.0` |
+| [**`RobotTestingFramework`**](https://github.com/robotology/robot-testing-framework.git) | https://github.com/robotology/robot-testing-framework.git | `v2.0.1` |
+| [**`blocktestcore`**](https://github.com/robotology/blocktest.git) | https://github.com/robotology/blocktest.git | `v2.3.7` |
+| [**`blocktest-yarp-plugins`**](https://github.com/robotology/blocktest-yarp-plugins.git) | https://github.com/robotology/blocktest-yarp-plugins.git | `v1.1.4` |
+| [**`BlockFactory`**](https://github.com/robotology/blockfactory.git) | https://github.com/robotology/blockfactory.git | `v0.8.3` |
+| [**`WBToolbox`**](https://github.com/robotology/wb-toolbox.git) | https://github.com/robotology/wb-toolbox.git | `v5.6.0` |
+| [**`OsqpEigen`**](https://github.com/robotology/osqp-eigen.git) | https://github.com/robotology/osqp-eigen.git | `v0.8.1` |
+| [**`UnicyclePlanner`**](https://github.com/robotology/unicycle-footstep-planner.git) | https://github.com/robotology/unicycle-footstep-planner.git | `v0.7.0` |
+| [**`walking-controllers`**](https://github.com/robotology/walking-controllers.git) | https://github.com/robotology/walking-controllers.git | `v0.8.0` |
+| [**`icub-gazebo-wholebody`**](https://github.com/robotology/icub-gazebo-wholebody.git) | https://github.com/robotology/icub-gazebo-wholebody.git | `v0.1.0` |
+| [**`whole-body-controllers`**](https://github.com/robotology/whole-body-controllers.git) | https://github.com/robotology/whole-body-controllers.git | `v2.5.6` |
+| [**`whole-body-estimators`**](https://github.com/robotology/whole-body-estimators.git) | https://github.com/robotology/whole-body-estimators.git | `v0.10.0` |
+| [**`walking-teleoperation`**](https://github.com/robotology/walking-teleoperation.git) | https://github.com/robotology/walking-teleoperation.git | `v1.3.4` |
+| [**`yarp-devices-forcetorque`**](https://github.com/robotology/yarp-devices-forcetorque.git) | https://github.com/robotology/yarp-devices-forcetorque.git | `v0.3.1` |
+| [**`wearables`**](https://github.com/robotology/wearables.git) | https://github.com/robotology/wearables.git | `v1.8.0` |
+| [**`HumanDynamicsEstimation`**](https://github.com/robotology/human-dynamics-estimation.git) | https://github.com/robotology/human-dynamics-estimation.git | `v3.0.0` |
+| [**`human-gazebo`**](https://github.com/robotology/human-gazebo.git) | https://github.com/robotology/human-gazebo.git | `v1.1.0` |
+| [**`yarp-device-xsensmt`**](https://github.com/robotology/yarp-device-xsensmt.git) | https://github.com/robotology/yarp-device-xsensmt.git | `v0.3.0` |
+| [**`yarp-device-ovrheadset`**](https://github.com/robotology/yarp-device-ovrheadset.git) | https://github.com/robotology/yarp-device-ovrheadset.git | `v1.0.0` |
+| [**`speech`**](https://github.com/robotology/speech.git) | https://github.com/robotology/speech.git | `v1.2.0` |
+| [**`funny-things`**](https://github.com/robotology/funny-things.git) | https://github.com/robotology/funny-things.git | `v2.2.0` |
+| [**`bipedal-locomotion-framework`**](https://github.com/ami-iit/bipedal-locomotion-framework.git) | https://github.com/ami-iit/bipedal-locomotion-framework.git | `v0.16.1` |
+| [**`LieGroupControllers`**](https://github.com/ami-iit/lie-group-controllers.git) | https://github.com/ami-iit/lie-group-controllers.git | `v0.2.0` |
+| [**`event-driven`**](https://github.com/robotology/event-driven.git) | https://github.com/robotology/event-driven.git | `v2.1` |
+| [**`matioCpp`**](https://github.com/ami-iit/matio-cpp.git) | https://github.com/ami-iit/matio-cpp.git | `v0.2.3` |
+| [**`diagnosticdaemon`**](https://github.com/robotology/diagnostic-daemon.git) | https://github.com/robotology/diagnostic-daemon.git | `v1.0.0` |
+| [**`osqp-matlab`**](https://github.com/ami-iit/osqp-matlab-cmake-buildsystem.git) | https://github.com/ami-iit/osqp-matlab-cmake-buildsystem.git | `v0.6.2.3` |
+| [**`robometry`**](https://github.com/robotology/robometry.git) | https://github.com/robotology/robometry.git | `v1.2.2` |
+| [**`gym-ignition`**](https://github.com/robotology/gym-ignition.git) | https://github.com/robotology/gym-ignition.git | `v1.3.1` |
+| [**`matlab-whole-body-simulator`**](https://github.com/ami-iit/matlab-whole-body-simulator.git) | https://github.com/ami-iit/matlab-whole-body-simulator.git | `v3.3.0` |
+| [**`casadi-matlab-bindings`**](https://github.com/ami-iit/casadi-matlab-bindings.git) | https://github.com/ami-iit/casadi-matlab-bindings.git | `v3.6.3.0` |
+| [**`idyntree-yarp-tools`**](https://github.com/robotology/idyntree-yarp-tools.git) | https://github.com/robotology/idyntree-yarp-tools.git | `v0.0.8` |
+| [**`pyqtconsole`**](https://github.com/pyqtconsole/pyqtconsole.git) | https://github.com/pyqtconsole/pyqtconsole.git | `v1.2.3` |
+| [**`meshcat-python`**](https://github.com/rdeits/meshcat-python.git) | https://github.com/rdeits/meshcat-python.git | `v0.3.2` |
+| [**`robot-log-visualizer`**](https://github.com/ami-iit/robot-log-visualizer.git) | https://github.com/ami-iit/robot-log-visualizer.git | `v0.7.1` |
+| [**`OpenXR`**](https://github.com/KhronosGroup/OpenXR-SDK.git) | https://github.com/KhronosGroup/OpenXR-SDK.git | `release-1.0.31` |
+| [**`OpenVR`**](https://github.com/ami-iit/openvr.git) | https://github.com/ami-iit/openvr.git | `v1.16.8.1` |
+| [**`yarp-device-openxrheadset`**](https://github.com/ami-iit/yarp-device-openxrheadset.git) | https://github.com/ami-iit/yarp-device-openxrheadset.git | `v0.0.3` |
+| [**`yarp-openvr-trackers`**](https://github.com/ami-iit/yarp-openvr-trackers.git) | https://github.com/ami-iit/yarp-openvr-trackers.git | `v0.0.1` |
+| [**`find-superquadric`**](https://github.com/robotology/find-superquadric.git) | https://github.com/robotology/find-superquadric.git | `v1.1.1` |
+| [**`tomlplusplus`**](https://github.com/marzer/tomlplusplus.git) | https://github.com/marzer/tomlplusplus.git | `v3.4.0` |
+| [**`proxsuite`**](https://github.com/Simple-Robotics/proxsuite.git) | https://github.com/Simple-Robotics/proxsuite.git | `v0.6.0` |
+| [**`BayesFilters`**](https://github.com/robotology/bayes-filters-lib.git) | https://github.com/robotology/bayes-filters-lib.git | `0.10.0` |
+| [**`mujoco`**](https://github.com/ami-iit/mujoco.git) | https://github.com/ami-iit/mujoco.git | `2.3.5.1` |
+| [**`mujoco-simulink-blockset`**](https://github.com/ami-iit/mujoco-simulink-blockset-cmake-buildsystem.git) | https://github.com/ami-iit/mujoco-simulink-blockset-cmake-buildsystem.git | `v3.0.0` |
+| [**`resolve-robotics-uri-py`**](https://github.com/ami-iit/resolve-robotics-uri-py.git) | https://github.com/ami-iit/resolve-robotics-uri-py.git | `v0.1.0` |
diff --git a/docs/sw_versioning_table/index.md b/docs/sw_versioning_table/index.md
@@ -26,10 +26,11 @@ $ git clone https://github.com/robotology/icub-main.git -b v1.17.0
 ```
 
 ## Table
-This table has been generated automatically by processing data available in [`robotology/robotology-superbuild@v2023.08.0/releases`](https://github.com/robotology/robotology-superbuild/tree/v2023.08.0/releases).
+This table has been generated automatically by processing data available in [`robotology/robotology-superbuild@v2023.11.0/releases`](https://github.com/robotology/robotology-superbuild/tree/v2023.11.0/releases).
 
 Click on the distros below to explore their package versions:
 
+- [📦 Distro **2023.11.0**](./2023.11.0.md){:target="_blank"}
 - [📦 Distro **2023.08.0**](./2023.08.0.md){:target="_blank"}
 - [📦 Distro **2023.05.2**](./2023.05.2.md){:target="_blank"}
 - [📦 Distro **2023.05.1**](./2023.05.1.md){:target="_blank"}

diff --git a/mkdocs.yml b/mkdocs.yml
@@ -97,7 +97,7 @@ not_in_nav: |
 
 nav:
   - 🟦 iCub Tech Docs:
-    - 🏠 Home Page: index.md
+    - 0️⃣ Home Page: index.md
 
     - 1️⃣ iCub Starter Kits:
       - First steps with the Humanoid iCub: icub_starter_kits/first_steps.md

diff --git a/scripts/linkchecker/linkcheckerrc b/scripts/linkchecker/linkcheckerrc
@@ -2,6 +2,7 @@
 threads=20
 timeout=300
 sslverify=0
+maxrequestspersecond=5
 
 [output]
 warnings=0