{"id":19963409,"url":"https://github.com/advrhumanoids/pino_fhi","last_synced_at":"2025-07-22T18:35:17.303Z","repository":{"id":73441356,"uuid":"484073282","full_name":"ADVRHumanoids/pino_fhi","owner":"ADVRHumanoids","description":"FhI PINO documentation and examples","archived":false,"fork":false,"pushed_at":"2022-04-27T08:10:27.000Z","size":32,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":4,"default_branch":"main","last_synced_at":"2025-06-05T11:56:25.757Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-04-21T13:58:41.000Z","updated_at":"2022-04-26T10:47:43.000Z","dependencies_parsed_at":null,"dependency_job_id":"395f4002-31e1-499b-9141-97a862ba36b8","html_url":"https://github.com/ADVRHumanoids/pino_fhi","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/pino_fhi","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fpino_fhi","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fpino_fhi/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fpino_fhi/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fpino_fhi/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/pino_fhi/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fpino_fhi/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266552738,"owners_count":23947183,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-07-22T02:00:09.085Z","response_time":66,"last_error":null,"robots_txt_status":null,"robots_txt_updated_at":null,"robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:16:00.747Z","updated_at":"2025-07-22T18:35:17.296Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# FhI Pino\nFhI Pino documentation and examples\n\n## Run the Robot\n\n1. From a pilot PC, ssh to the FhI Pino Embedded machine: the two pc needs to be connected on the same network.\n\n```\nssh pino@pino-embedded \n```\n\n(You will need to use pino-embedded.local in some network)\n\nPassword will be communicated during the meeting.\n\npino-embedded has the following software features:\n\n- IPv4 Address: 10.24.11.100\n- Operating system: Ubuntu 20.04 with 5.10.89-xeno-ipipe-3.1 Xenomai RT Kernel\n- Installed binary software: xbot2 suite for 20.04 + Xenomai\n- Examples from sources: this repo\n\nNote the following commands refer to the ssh session to the pino-embedded\n\n2. Release the button, wait for 10 seconds and start the EtherCAT master \n\n```\necat_master\n```\n\n3. If needed, regenerate the modular robot model\n\nAnd on another:\n\n```\nRobotBuilder\n```\n\nFrom the pilot PC open a web browser and connect to the pino-embedded machine on the port 5000\n\ne.g. on the URL put: pino-embedded:5000 or pino-embedded.local:5000\n\nNOTE: https is not supported at the moment\n\nClick on the \"Generate Model\" button and after few seconds you will see the modular robot recognized and this should match the real one.\n\nYou can use th sliders on the top left corner to define a new homing configuration in joint space.\n\nAfter this, click on the \"Deploy Robot\" button which will generate all the files needed to execute the modular robot.\n\n4. set the xbot2 config file based on the generated modular robot that will be in the following path\n\n```\nset_xbot2_config ~/src/fhi_ws/src/ModularBot/config/ModularBot.yaml\n```\n\nNOTE: this need to be done only the first time we regenerate a modular robot model.\n\n5. check that the config you set is the intended one and if needed tune some of the parameters\n\n```\nopen_xbot2_config\n```\n\n6. start the xbot2 with the robot in impedance mode for example\n\n```\nxbot2-core --hw ec_imp\n```\n\n7. start the xbot2-gui on the pilot PC to check the status of the robot and to run a set of plugins.\n\n```\nxbot2-gui\n```\n\n8. if needed on the Pilot PC you can visualize the robot on RViZ, downloading, compiling and sourcing the following package: https://github.com/ADVRHumanoids/modularbots_fraunhofer\n\n\n## Pino examples\n\nWe prepared a set of examples to run:\n- joint space control on the modular robot\n- cartesian space control from RViZ using CartesI/O\n- Gravity compensation example \n\n### Joint Space Control\n\nLast time tutorial: https://github.com/ADVRHumanoids/modularbots_fraunhofer\n\n### Cartesian space control\n\nAs an example we will use RViZ through the CartesI/O interactive markers to control the modular robot in the cartesian space.\n\nTo run it, on the pino-embedded:\n\n```\nmon launch ModularBot ModularBot_ik.launch\n```\n\nThen on the pilot PC:\n\n```\nrviz\n```\n\n### Gravity compensation example\n\nOn the xbot2 config file, by default, a *gcomp_example* plugin is provided.\n\nTo run it just start it from the xbot2-gui.\n\nThe source code can be found on this repo or on the ~/src/fhi_ws/src/pino_fhi/src/\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fpino_fhi","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fpino_fhi","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fpino_fhi/lists"}