docs(extras): Prime real-hardware bringup page#11
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Document the Prime bringup knowledge (eRob over EtherCAT + Sito over SocketCAN) as an Extras page, mirroring the Lite first_real_bringup how-to: - bus topology (10 eRob ring pos 0-9 + 4 Sito on can2), 14 flat joints, the hybrid CiA402 / MIT command-surface caveat - prereqs (host IgH master, can2 up, software calibration), start/verify the master, launch real.launch.py + its args, what to expect, verify - single-bus diagnostic modes, eRob per-mode impedance, common failures - flagged experimental (only one eRob jogged on silicon so far) Add an Extras sidebar category, and repoint calibrate_prime_erob's prerequisite link: it pointed at the Lite-only first_real_bringup for "EtherCAT master running + drives powered", which that page never covers. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01D48ZKKVV3BSb2wukP4ka3y
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Summary
Adds an Extras page,
docs/extras/prime_bringup.md, documenting the Prime real-hardware bringup knowledge (eRob over EtherCAT + Sito over SocketCAN) — the Prime counterpart of the Litefirst_real_bringuphow-to. Filed under a new Extras sidebar category and flagged experimental, since on real silicon only a single eRob has been jogged so far.The page covers
<ros2_control>blocks (PrimeEtherCATSide/ethercat_driverfor the 10 eRob CiA402 joints +PrimeSitoCAN/SitoSystemfor the 4 Sito wrists), one flat 14-joint list, and the hybrid command-surface caveat (eRob expose no stiffness/damping).can2, straight fromprime_hardware.yaml.ethercat master/ethercat slaves); bringcan2up;ros2 launch humanoid_bringup_prime real.launch.pywith its args; what to expect (sequenced spawners, ~13.6 s eRob activation,/prime/joint_states); verify.backends:=ec|can), eRob per-mode impedance (erob_impedance_manager/ SDO loop gains), and common failures linking the Prime troubleshooting entries.control_frequency=update_rate(50 Hz) constraint that avoids CiA402 Fault 4616.Also
calibrate_prime_erob.mdlisted "EtherCAT master running + drives powered → see First real-hardware bringup", but that page is Lite-only and never covers the master. It now points to this new page.Sourced from
humanoid_bringup_prime(launch/config) + existing concepts/calibration/troubleshooting docs. No local Node available; CI (typecheck+build,onBrokenLinks: 'throw') is the validation gate.🤖 Generated with Claude Code
https://claude.ai/code/session_01D48ZKKVV3BSb2wukP4ka3y