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Merged
merged 5 commits into from
Mar 4, 2022
Merged

Upgrade robots to the latest NWS/NWC layers - 2 #322

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5f41744
iCubGenova07 - updated files for nws layer
davidetome Jan 11, 2022
72b75e4
iCubGenova08 - updated files for nws layer
davidetome Jan 11, 2022
44c6b09
iCubGenova08 - updated files for nws layer
davidetome Jan 11, 2022
da49305
iCubGenova10 - updated files for nws layer
davidetome Jan 11, 2022
c0ed848
iCubGenova08 - fixed error after testing files
davidetome Jan 28, 2022
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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/face-calib.xml
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Expand Up @@ -47,11 +47,11 @@
<param name="CALIB_ORDER"> (0) </param> <!-- we can calibrate all joints in parallel (for now not the jaw yet)-->

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

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

<action phase="interrupt3" level="1" type="abort" />
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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/head-calib.xml
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Expand Up @@ -37,11 +37,11 @@
<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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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/left_arm-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<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" />
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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/left_leg-calib.xml
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Expand Up @@ -37,11 +37,11 @@
<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 iCubGenova07/calibrators/right_arm-calib.xml
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Expand Up @@ -36,11 +36,11 @@
<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" />
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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/right_leg-calib.xml
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Expand Up @@ -34,11 +34,11 @@
<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" />
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4 changes: 2 additions & 2 deletions iCubGenova07/calibrators/torso-calib.xml
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Expand Up @@ -35,11 +35,11 @@
<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" />
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4 changes: 2 additions & 2 deletions iCubGenova07/cartesian/left_arm-cartesian.xml
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Expand Up @@ -45,8 +45,8 @@

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

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4 changes: 2 additions & 2 deletions iCubGenova07/cartesian/right_arm-cartesian.xml
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Expand Up @@ -45,8 +45,8 @@

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

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26 changes: 18 additions & 8 deletions iCubGenova07/icub_all.xml
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Expand Up @@ -7,6 +7,23 @@
</params>

<devices>

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<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/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/face-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />

<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.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/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/face-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />

<!-- CARTESIANS -->
<xi:include href="cartesian/left_arm-cartesian.xml" />
Expand All @@ -15,39 +32,32 @@
<!-- HEAD -->
<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" />

<!-- FACE -->
<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />


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

<!-- LEFT ARM -->
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb24-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb25-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/left_arm-eb26-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />

<!-- RIGHT ARM -->
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb27-j4_7-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb28-j8_11-mc.xml" />
<xi:include href="hardware/motorControl/right_arm-eb29-j12_15-mc.xml" />
<xi:include href="wrappers/motorControl/right_arm-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" />
<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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15 changes: 15 additions & 0 deletions iCubGenova07/wrappers/motorControl/face-mc_remapper.xml
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@@ -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="face-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="face_joints">( 0 0 0 0 )</elem>
</paramlist>
<param name="joints"> 1 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="face_joints"> face-eb22-j0-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
23 changes: 7 additions & 16 deletions iCubGenova07/wrappers/motorControl/face-mc_wrapper.xml
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@@ -1,19 +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="face-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<elem name="FirstSetOfJoints">( 0 0 0 0 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/face </param>
<param name="ports"> face </param>
<param name="joints"> 1 </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"> face-eb22-j0-mc </elem>
<elem name="Calibrator"> face-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/face </param>
<action phase="startup" level="10" type="attach">
<param name="device"> face-mc_remapper </param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
<action phase="shutdown" level="15" type="detach" />
</device>
17 changes: 17 additions & 0 deletions iCubGenova07/wrappers/motorControl/head-mc_remapper.xml
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@@ -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 iCubGenova07/wrappers/motorControl/head-mc_wrapper.xml
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@@ -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>
21 changes: 21 additions & 0 deletions iCubGenova07/wrappers/motorControl/left_arm-mc_remapper.xml
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@@ -0,0 +1,21 @@
<?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_arm-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="left_arm_joints1">( 0 3 0 3 )</elem>
<elem name="left_arm_joints2">( 4 7 0 3 )</elem>
<elem name="left_arm_joints3">( 8 11 0 3 )</elem>
<elem name="left_arm_joints4">( 12 15 0 3 )</elem>
</paramlist>
<param name="joints"> 16 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="left_arm_joints1"> left_arm-eb1-j0_3-mc </elem>
<elem name="left_arm_joints2"> left_arm-eb24-j4_7-mc </elem>
<elem name="left_arm_joints3"> left_arm-eb25-j8_11-mc </elem>
<elem name="left_arm_joints4"> left_arm-eb26-j12_15-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
30 changes: 7 additions & 23 deletions iCubGenova07/wrappers/motorControl/left_arm-mc_wrapper.xml
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@@ -1,26 +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_arm-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- when we'll use entire arm we should use following sets -->
<elem name="FirstSetOfJoints">( 0 3 0 3 )</elem>
<elem name="SecondSetOfJoints">( 4 7 0 3 )</elem>
<elem name="ThirdSetOfJoints">( 8 11 0 3 )</elem>
<elem name="FourthSetOfJoints">( 12 15 0 3 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm </param>
<param name="ports"> left_arm </param>
<param name="joints"> 16 </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"> left_arm-eb1-j0_3-mc </elem>
<elem name="SecondSetOfJoints"> left_arm-eb24-j4_7-mc </elem>
<elem name="ThirdSetOfJoints"> left_arm-eb25-j8_11-mc </elem>
<elem name="FourthSetOfJoints"> left_arm-eb26-j12_15-mc </elem>
<elem name="Calibrator"> left_arm-calibrator </elem>
</paramlist>

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/left_arm </param>
<action phase="startup" level="10" type="attach">
<param name="device"> left_arm-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 iCubGenova07/wrappers/motorControl/left_leg-mc_remapper.xml
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@@ -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 iCubGenova07/wrappers/motorControl/left_leg-mc_wrapper.xml
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@@ -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>
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