iCubGenova11 add files for fineCalibrationChecker #748

MSECode · 2025-07-28T14:43:40Z

This PR adds file that are needed for using the fineCalibrationChecker on iCubGenova11
They are mainly useful for the PI demo but it might be useful to have them for further tests or for actually using the fine calibrator when we observe calibration errors with the robot

gemini-code-assist

Summary of Changes

Hello @MSECode, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

I've added necessary configuration files to enable the use of the fine calibration checker on the iCubGenova11 robot. This primarily involves setting up a new calibration checker device, configuring a raw data publisher for the left arm, and integrating these new components into the robot's main configuration. These changes are intended to support the PI demo and provide tools for future calibration tests and adjustments.

Highlights

Calibration Order Adjustment: I've updated the calibration order for both the left and right arms by removing the last element '15' from the final group in their respective calibration XML files. This adjustment likely refines the calibration sequence for these robotic arms.
New Fine Calibration Checker Configuration: I've introduced a new configuration file for a 'fineCalibrationChecker' specifically for the iCubGenova11's left arm. This file includes detailed parameters for axes, gold positions, calibration deltas, and encoder resolutions, which are crucial for precise calibration checks.
Raw Values Publisher for Left Arm: I've added a new wrapper configuration that sets up a raw values publisher for the left arm. This will allow raw encoder data to be published, which is essential for the fine calibration checker to function correctly.
System Integration of New Components: I've integrated the newly added fine calibration checker and raw values publisher configurations into the main 'icub_all_no_legs.xml' file, ensuring they are loaded and active when the robot system starts up.

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Code Review

This pull request adds configuration files for the fineCalibrationChecker on iCubGenova11. The changes look mostly correct for enabling this feature. However, there is a critical issue with a misnamed wrapper file, which will cause configuration problems. I've also pointed out some minor inconsistencies in the new checker configuration file that could be improved for better clarity and maintainability. Please see my detailed comments.

iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml

iCubGenova11/checker/fineCalibrationCheckerConfig.xml

pattacini

Hi @MSECode

CI failed with the following reports:

Also, there's one critical comment raised by @gemini-code-assist requiring your attention.

pattacini

A couple of doubts regarding joint 15, @MSECode

pattacini · 2025-07-28T15:25:20Z

iCubGenova11/calibrators/left_arm-calib.xml

@@ -31,7 +31,7 @@
 			<param name="startupPosThreshold">    2          2          2          2         90     90     90    90    90    90    90    90    90     90     90    90    </param>
 		</group>

-		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param>
+		<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14)</param>


@MSECode, was this change intended?

First commit I did was from the robot. Thus it might be due to changes left there that I took when checking out. I know that lately there were some problems with the finger. Thus I'm not sure if it was due to that to remove the last joint. Anyway I can remove that change from this PR and we can double check that directly on the robot.

Anyway I can remove that change from this PR and we can double check that directly on the robot.

Yep, thanks! I'd go with this solution.

I can confirm, they are disabled due to:

iCubGenova11 S/N:050 – Both right and left pinky don't work icub-tech-support#2178

The fact that they're disabled locally to the robot doesn't imply that they should be upstream in the repo. Something to consider with care, I'd say.

I would still keep 15 upstream.
iCubGenova11 follows a different workflow/pace wrt ergCubs.

iCubGenova11/calibrators/right_arm-calib.xml

iCubGenova11/CMakeLists.txt

pattacini

CI fails now while checking XML schema:

/dependencies/install/share/ICUBcontrib/robots/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml:4: element device: Schemas validity error : Element 'device', attribute 'type': [facet 'enumeration'] The value 'rawValuesPublisherServer' is not an element of the set {'controlBoard_nws_yarp', 'controlBoard_nws_ros', 'controlBoard_nws_ros2'}.
/dependencies/install/share/ICUBcontrib/robots/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml:8: element paramlist: Schemas validity error : Element 'paramlist': This element is not expected. Expected is ( param ).
/dependencies/install/share/ICUBcontrib/robots/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml fails to validate
Wrappers XSD check failed!

pattacini · 2025-07-28T15:38:49Z

CI fails now while checking XML schema:

The schemas we're currently enforcing are available at:

https://github.com/robotology/robots-configuration/tree/master/tests/dry-run/check-xml/schemas

cc @MSECode

pattacini · 2025-07-29T11:13:12Z

Hi @MSECode

You may want to fiddle with the XML schemas on your local system instead of relying on the CI itself.
You may also consider exploiting the GH Codespaces on your fork, which are backed up by a docker.

The dry-run material is contained in https://github.com/robotology/robots-configuration/tree/master/tests/dry-run:

Run configure-tests.sh to build the check-xml binary and configure all the robots.
The executable check-xml is devoted to verifying the XML schemas stored in this repo. It may be that, aside from the schemas, the program needs some adjustment, depending on your use case.

pattacini · 2025-07-30T11:49:01Z

Now that robotology/icub-main#1034 is merged, I'm regenerating the docker image:

https://github.com/robotology/robots-configuration/actions/runs/16621652622

This way, the "dev" dry-run (i.e., the proper dry-run of the YARP devices) should work.
The "xml" dry-run (responsible for verifying the XML schemas) still needs inspection, I guess.

MSECode · 2025-07-30T13:07:51Z

Not sure if the CI is failing on the xml here:

because the xml file for the raw values for the right arm is present among the wrappers but commented out in the main xml file iCubGenova11/icub_all_no_legs.xml.
And why the left_arm wrapper is checked 2 times from the CI differently from the one of the right arm

pattacini · 2025-07-30T17:01:24Z

Hi @MSECode

Can you please make a push, even an empty push, to trigger the CI afresh, after having regenerated the docker?

Then, we will look into the problems that may potentially occur again.

pattacini · 2025-07-31T07:35:58Z

The following plugin is not available yet from the building:

rawValuesPublisherServer

Do we need to enable it somehow?

MSECode · 2025-07-31T12:10:42Z

Yes,
since it is disabled by default it should be enabled by setting to true the Boolean value in icub-main cmake configuration.
Same for rawValuesPublisherClient and FineCalibrationCheker if needed

pattacini · 2025-07-31T12:13:05Z

I'll do that then, with the docker.

…tionChecker As per title. This would come handy since these devices has been added to the icub_all.xml of iCubGenova11: - robotology/robots-configuration#748 Xref: - robotology/icub-main#1034

pattacini · 2025-07-31T13:40:57Z

I'll do that then, with the docker.

Done 👍🏻
See https://github.com/robotology/robots-configuration/actions/runs/16649881946.

pattacini · 2025-07-31T14:47:53Z

To be sure of the alignment of resources, we'd need a fake push to this PR.

pattacini · 2025-07-31T16:37:40Z

The "dev" dry-run now fails with this error:

qt.qpa.xcb: could not connect to display 
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

which is obviously related to the use of graphics in a headless environment.
By the way, what happens when YRI is launched remotely on a system w/o -X?

Options:

We can install X and QT on the docker. Don't know if it will work on GH Action. Also, this will make the docker maintenance unnecessarily unwieldy.
We develop the option --no-gui for the new plugin so that it can be used in this context. The option will be activated by the dry-run machinery or made the default (considering that launching YRI via yarpmanager could be the default).
We rule out the plugin outright from the test.

My preference: 2 and then 3.
Option 1 was mentioned only for the record 😉

That said, there's still an error with the "xml" checker as pointed out in #748 (comment).

pattacini · 2025-08-01T13:02:40Z

Putting the PR back to draft because of #748 (comment).

Nicogene · 2025-08-01T13:28:06Z

The "dev" dry-run now fails with this error:
qt.qpa.xcb: could not connect to display 
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
which is obviously related to the use of graphics in a headless environment. By the way, what happens when YRI is launched remotely on a system w/o -X?

Options:
1. We can install X and QT on the docker. Don't know if it will work on GH Action. Also, this will make the docker maintenance unnecessarily unwieldy.

2. We develop the option `--no-gui` for the new plugin so that it can be used in this context. The option will be activated by the dry-run machinery or made the default (considering that launching YRI via yarpmanager could be the default).

3. We rule out the plugin outright from the test.
My preference: 2 and then 3. Option 1 was mentioned only for the record 😉

That said, there's still an error with the "xml" checker as pointed out in #748 (comment).

See:

fineCalibrationChecker: add withGui parameter icub-main#1037

MSECode · 2025-08-26T07:21:11Z

Oks,
I've already configured the Codespace and started to debug on it.

MSECode · 2025-08-26T09:29:49Z

Hi @pattacini,
thanks to support by @martinaxgloria we have find out that the failing on the xml is due to the following reason:

checkCalibratorsWrappersRemappers fails due to the fact that rawValuesPublisherServer does not have a remapper

Specifically the situation is the following:

when this check is evaluated at this line: https://github.com/robotology/robots-configuration/blob/master/tests/dry-run/check-xml/src/check-xml.cpp#L138 we have actually a mismatch between the device defined in the files *-rawval-nws_wrapper.xml (e.g right_arm-eb3-j0_3-mc) and the expected one right_arm-mc_remapper
the device passed as target is taken from the calibrators file as shown by the following lines:
- the call of the method: https://github.com/robotology/robots-configuration/blob/master/tests/dry-run/check-xml/src/check-xml.cpp#L212
- the target device: https://github.com/robotology/robots-configuration/blob/master/tests/dry-run/check-xml/src/check-xml.cpp#L200
- the node selected: https://github.com/robotology/robots-configuration/blob/master/tests/dry-run/check-xml/src/check-xml.cpp#L193

Thus, an option of what to do now is to modify temporary the check.xml with this, quite naive, proposed change:

            if(ele.find("rawval-nws_wrapper.xml") != std::string::npos) {
                if(!loadXmlFile(robot_dir, ele, doc_wrapper)) return false;
                pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
                device = trim(action_startup.node().value());
                if(device != "") std::cout << part <<" - WRAPPER CHECK PASSED!" << std::endl;
                else {
                    std::cerr << part << " - WRAPPER CHECK FAILED!" << std::endl;
                    pass = false;
                }
                found = true;
            }
            else if(ele.find("wrapper.xml") != std::string::npos) {
                if(!loadXmlFile(robot_dir, ele, doc_wrapper)) return false;

where we add a temporary if clause to let the checks on the nws_wrapper pass until we finalize the definition of the remapper for the rawValuesPublisherServer, which is already planned.

We can also think to add a new method for checking wrappers that does not have a related remapper, which thus have a device different from the target specified in the calibrators.

pattacini · 2025-08-26T10:07:51Z

Thanks @MSECode and @martinaxgloria for the tests and the exhaustive report!

I would honestly favor the second solution:

We can also think to add a new method for checking wrappers that does not have a related remapper, which thus have a device different from the target specified in the calibrators.

The reasons for that:

It's a more thorough approach that may come in handy in the future in similar situations.
This solution can stay thus integrated and we don't need to come back to get rid of the workaround.

MSECode · 2025-08-26T15:06:43Z

I've updated the check-xml.cpp file.

pattacini

Very nicely done, and quite quickly!

@MSECode, I'm asking to increase the verbosity of a message to better understand which device is skipped.

See my inline comments: there are a couple.

tests/dry-run/check-xml/src/check-xml.cpp

pattacini · 2025-08-27T08:00:59Z

Thanks @MSECode!
Awaiting the CI before merging.

pattacini · 2025-08-27T08:10:29Z

The CI reports:

left_arm - SKIPPED DEVICE left_arm-eb1-j0_3-mc SINCE UNREMAPPED!

Is left_arm_eb1-j0_3-mc correct?
I would have expected the name of the new device to show up here, or is that we skipped the entire sub-part?

cc @MSECode

MSECode · 2025-08-27T08:33:45Z

The CI reports:
left_arm - SKIPPED DEVICE left_arm-eb1-j0_3-mc SINCE UNREMAPPED!
Is left_arm_eb1-j0_3-mc correct? I would have expected the name of the new device to show up here, or is that we skipped the entire sub-part?

cc @MSECode

Oks, that is due to the fact I added to the debug message the name of the device parsed from this lines:

robots-configuration/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml

Lines 7 to 9 in 733e475

    
           <action phase="startup" level="10" type="attach"> 
        
               <param name="device"> left_arm-eb1-j0_3-mc </param> 
        
           </action>

(since it is the device name commonly used by the other methods for comparing with the target taken from the calibrator file)
If it is much clear to the end user I can add the name we used for the device taken from this line:

robots-configuration/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml

Line 4 in 733e475

    
           <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-rawval_nws_yarp" type="rawValuesPublisherServer">

pattacini · 2025-08-27T08:50:29Z

If it is much clear to the end user I can add the name we used for the device taken from this line:

Yep, I think it would be much clearer.
Nonetheless, be careful that there won't be any side effect in other parts if we stick to the new name.

MSECode · 2025-08-27T09:09:13Z

If it is much clear to the end user I can add the name we used for the device taken from this line:

Yep, I think it would be much clearer. Nonetheless, be careful that there won't be any side effect in other parts if we stick to the new name.

Yes, sure, I'll check the output of all tests. I'll keep the new name just for the debug. The check for the wrappers that have a related remapper must be done using the remapper device name, since it is the only one shared among calibrator and wrapper.

MSECode · 2025-08-27T09:42:32Z

Locally, I've got the following output:

left_arm - SKIPPED DEVICE left_arm-rawval_nws_yarp SINCE UNREMAPPED!
So I think it is fine now.

Here the full output for our test. If it is ok, I'll commit right away.

dry_run_iCubGenova11_xml.txt

pattacini · 2025-08-27T09:51:52Z

Super! Go ahead.

Warning

Because of #750, we have now conflicts to solve.

Update config files demo Add file for checking fineCalibrationChecker tool on an amc board Finalization for demo

@MSECode

Fixed missing installation. cc @MSECode

…ble arm joint 15 left and right

Co-authored-by: Ugo Pattacini <[email protected]>

MSECode requested a review from Nicogene July 28, 2025 14:43

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Nicogene mentioned this pull request Jul 31, 2025

Add in BuildICUB.cmake rawValuesPublisheServer/Client and fineCalibrationChecker robotology/robotology-superbuild#1887

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fineCalibrationChecker: add withGui parameter robotology/icub-main#1037

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MSECode and others added 12 commits August 27, 2025 12:03

Conf files for fineCalibrator demo

f2637b6

Update config files demo Add file for checking fineCalibrationChecker tool on an amc board Finalization for demo

Remove not needed files

1d29661

Fix typos and filenames

a99cf13

Update CMakeLists.txt

1b04a56

Fixed missing installation. cc @MSECode

Update schema, change paramlist to param for raw values wrapper, disa…

61f731f

…ble arm joint 15 left and right

Update nws wrapper using param instead of paramlist

95451a7

Fix tag mismatch

a8a4e6b

Check Ci with re-generated docker

627e922

trigger build

c44aace

Add check for wrappers that do not have remappers

499e7cf

Update tests/dry-run/check-xml/src/check-xml.cpp

e576cd3

Co-authored-by: Ugo Pattacini <[email protected]>

Add device name to debug message of skipped devices

704f71f

MSECode force-pushed the feature/testGenova11DemoCalib branch from 733e475 to 704f71f Compare August 27, 2025 10:05

Fix device name in debug message

55e3883

pattacini merged commit d2c055f into robotology:devel Aug 27, 2025
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iCubGenova11 add files for fineCalibrationChecker #748

iCubGenova11 add files for fineCalibrationChecker #748

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