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Upgrade robots to the latest NWS/NWC layers - 11 #347

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Mar 24, 2022
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4 changes: 2 additions & 2 deletions iCubHamburg01/calibrators/head_calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -38,11 +38,11 @@
<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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1 change: 1 addition & 0 deletions iCubHamburg01/icub_all.xml
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="./wrappers/motorControl/head-mc_remapper.xml" />

<!-- <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
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17 changes: 17 additions & 0 deletions iCubHamburg01/wrappers/motorControl/head-mc_remapper.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="head_joints1">( 0 1 0 1 )</elem>
<elem name="head_joints2">( 2 5 0 3 )</elem>
</paramlist>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="head_joints1"> head-eb20-j0_1-mc </elem>
<elem name="head_joints2"> head-eb21-j2_5-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
23 changes: 6 additions & 17 deletions iCubHamburg01/wrappers/motorControl/head-mc_wrapper.xml
Original file line number Diff line number Diff line change
@@ -1,21 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<elem name="FirstSetOfJoints">( 0 1 0 1 )</elem>
<elem name="SecondSetOfJoints">( 2 5 0 3 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/head </param>
<param name="ports"> head </param>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
<elem name="FirstSetOfJoints"> head-eb20-j0_1-mc </elem>
<elem name="SecondSetOfJoints"> head-eb21-j2_5-mc </elem>
<elem name="Calibrator"> head-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/head </param>
<action phase="startup" level="10" type="attach">
<param name="device"> head-mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
4 changes: 2 additions & 2 deletions iCubHeidelberg01/calibrators/left_leg-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER"> (0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_wrapper</param>
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg-mc_wrapper</param>
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
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4 changes: 2 additions & 2 deletions iCubHeidelberg01/calibrators/right_leg-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER">(0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_leg-mc_wrapper</param>
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_leg-mc_wrapper</param>
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubHeidelberg01/calibrators/torso-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -37,11 +37,11 @@
<param name="CALIB_ORDER"> (0 1 2) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-mc_wrapper</param>
<param name="target">torso-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">torso-mc_wrapper</param>
<param name="target">torso-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
2 changes: 1 addition & 1 deletion iCubHeidelberg01/cartesian/left_leg_cartesian.xml
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@

<action phase="startup" level="15" type="attach">
<paramlist name="networks">
<elem name="left_leg">left_leg-mc_wrapper</elem>
<elem name="left_leg">left_leg-mc_remapper</elem>
</paramlist>
</action>

Expand Down
2 changes: 1 addition & 1 deletion iCubHeidelberg01/cartesian/right_leg_cartesian.xml
Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@

<action phase="startup" level="15" type="attach">
<paramlist name="networks">
<elem name="right_leg">right_leg-mc_wrapper</elem>
<elem name="right_leg">right_leg-mc_remapper</elem>
</paramlist>
</action>

Expand Down
29 changes: 17 additions & 12 deletions iCubHeidelberg01/icub_all.xml
Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,25 @@
<xi:include href="cartesian/left_leg_cartesian.xml" />
<xi:include href="cartesian/right_leg_cartesian.xml" />

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />

<!-- ANALOG SENSOR FT -->
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
Expand All @@ -29,17 +45,6 @@
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />

<!-- LEFT LEG -->
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />

<!-- RIGHT LEG -->
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />


<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
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16 changes: 16 additions & 0 deletions iCubHeidelberg01/wrappers/motorControl/left_leg-mc_remapper.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="left_leg_joints1">( 0 3 0 3 )</elem>
<elem name="left_leg_joints2">( 4 5 0 1 )</elem>
</paramlist>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="left_leg_joints1"> left_leg-eb6-j0_3-mc </elem>
<elem name="left_leg_joints2"> left_leg-eb7-j4_5-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
26 changes: 7 additions & 19 deletions iCubHeidelberg01/wrappers/motorControl/left_leg-mc_wrapper.xml
Original file line number Diff line number Diff line change
@@ -1,22 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
<elem name="SecondSetOfJoints">( 4 5 0 1 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg </param>
<param name="ports"> left_leg </param>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebx-mc file -->
<elem name="FirstSetOfJoints"> left_leg-eb6-j0_3-mc </elem>
<elem name="SecondSetOfJoints"> left_leg-eb7-j4_5-mc </elem>
<elem name="Calibrator"> left_leg-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/left_leg </param>
<action phase="startup" level="10" type="attach">
<param name="device"> left_leg-mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<action phase="shutdown" level="15" type="detach" />
</device>
16 changes: 16 additions & 0 deletions iCubHeidelberg01/wrappers/motorControl/right_leg-mc_remapper.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="right_leg_joints1">( 0 3 0 3 )</elem>
<elem name="right_leg_joints2">( 4 5 0 1 )</elem>
</paramlist>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="right_leg_joints1"> right_leg-eb8-j0_3-mc </elem>
<elem name="right_leg_joints2"> right_leg-eb9-j4_5-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
26 changes: 7 additions & 19 deletions iCubHeidelberg01/wrappers/motorControl/right_leg-mc_wrapper.xml
Original file line number Diff line number Diff line change
@@ -1,22 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
<elem name="SecondSetOfJoints">( 4 5 0 1 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg </param>
<param name="ports"> right_leg </param>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
<elem name="FirstSetOfJoints"> right_leg-eb8-j0_3-mc </elem>
<elem name="SecondSetOfJoints"> right_leg-eb9-j4_5-mc </elem>
<elem name="Calibrator"> right_leg-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/right_leg </param>
<action phase="startup" level="10" type="attach">
<param name="device"> right_leg-mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<action phase="shutdown" level="15" type="detach" />
</device>
15 changes: 15 additions & 0 deletions iCubHeidelberg01/wrappers/motorControl/torso-mc_remapper.xml
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="torso_joints">( 0 2 0 2 )</elem>
</paramlist>
<param name="joints"> 3 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="torso_joints"> torso-eb5-j0_2-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
22 changes: 6 additions & 16 deletions iCubHeidelberg01/wrappers/motorControl/torso-mc_wrapper.xml
Original file line number Diff line number Diff line change
@@ -1,20 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints">( 0 2 0 2 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/torso </param>
<param name="ports"> torso </param>
<param name="joints"> 3 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
<elem name="FirstSetOfJoints"> torso-eb5-j0_2-mc </elem>
<elem name="Calibrator"> torso-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/torso </param>
<action phase="startup" level="10" type="attach">
<param name="device"> torso-mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/head-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,11 @@


<action phase="startup" level="10" type="calibrate">
<param name="target">head-mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">head-mc_wrapper</param>
<param name="target">head-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/left_arm-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_wrapper</param>
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm-mc_wrapper</param>
<param name="target">left_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/left_leg-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER"> (0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_wrapper</param>
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_leg-mc_wrapper</param>
<param name="target">left_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/right_arm-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_wrapper</param>
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_arm-mc_wrapper</param>
<param name="target">right_arm-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/right_leg-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -36,11 +36,11 @@
<param name="CALIB_ORDER">(0 1 2 3 4 5) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_leg-mc_wrapper</param>
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">right_leg-mc_wrapper</param>
<param name="target">right_leg-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
4 changes: 2 additions & 2 deletions iCubLausanne02/calibrators/torso-calib.xml
Original file line number Diff line number Diff line change
Expand Up @@ -40,11 +40,11 @@
<param name="CALIB_ORDER"> (0 1 2) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-mc_wrapper</param>
<param name="target">torso-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">torso-mc_wrapper</param>
<param name="target">torso-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />
Expand Down
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