iCubGenova02 branches about robots-configuration

[fiorisi]

Thanks to the work of @nunoguedelha the branches have been cleaned up.
Currently the robot iCubGenova02 is fully working in the devel branch and the only two additional branches are (other 2 should have dedicated pull requests):

• iCubGenova02_V2-5_plus_soles_speed: used for jump test in velocity
• iCubGenova02_V2-5_plus_soles: used for jump tests

Currently, these branches can not be merged in devel because the current and PWM limits have been increased to the maximum values (e.g. see the left leg file). Nevertheless, if this experimental configuration is stable we might consider merging.

NOTE:
We noticed that all the low level configuration files are still using the machine_units settings (instead of the new dutycycle_percent). We decided to don't merge the modified files from the iCubGenova02_V2-5_plus_soles branch because of two reasons:

• the files are incomplete
• the parameters are not tuned

We can schedule a day to correctly estimate the parameters and update the low level configuration files.

cc @randaz81 @FabioBergonti @hu-yue

[gabrielenava]

Once the new soles (15 [deg] offset) have been fully tested, we could merge into devel.

Do you want to test the Yoga ++? Even if the FT sensors are not yet calibrated, it is possible to test it.

[nunoguedelha]

@fiorisi , the branch iCubGenova02/createConfigInertialsMultipleAnalogSensors has been PRed (#71). I'll let you know as soon as it's merged so that we clean it up from the repos.

[traversaro]

Ok!

[nunoguedelha]

@fiorisi , you can delete iCubGenova02-04/fixGyroscopesFullscale, that change is already merged into the master branch.

Please DON'T delete iCubGenova02/createConfigInertialsMultipleAnalogSensors, I will handle it as soon as I arrive at IIT at 2pm.