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Upgrade robots to the latest NWS/NWC layers - 5 #327

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merged 4 commits into from
Mar 4, 2022
Merged

Upgrade robots to the latest NWS/NWC layers - 5 #327

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0fb9d22
iCubWaterloo01 - updated files for nws layer
davidetome Jan 25, 2022
8bcd880
iCubDijon01 - updated files for nws layer
davidetome Jan 25, 2022
3eccbe1
iCubLisboa01 - updated files for nws layer
davidetome Jan 25, 2022
8164759
iCubOsaka01 - updated files for nws layer
davidetome Jan 25, 2022
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4 changes: 2 additions & 2 deletions iCubDijon01/calibrators/head_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<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 iCubDijon01/calibrators/left_arm_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5) </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 iCubDijon01/calibrators/left_leg_calib.xml
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Expand Up @@ -27,11 +27,11 @@
<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 iCubDijon01/calibrators/right_arm_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</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 iCubDijon01/calibrators/right_leg_calib.xml
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Expand Up @@ -27,11 +27,11 @@
<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 iCubDijon01/calibrators/torso_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<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 iCubDijon01/cartesian/left_arm_cartesian.xml
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Expand Up @@ -44,8 +44,8 @@

<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 iCubDijon01/cartesian/right_arm_cartesian.xml
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Expand Up @@ -44,8 +44,8 @@

<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: 16 additions & 10 deletions iCubDijon01/icub_all.xml
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Expand Up @@ -7,18 +7,24 @@
<xi:include href="cartesian/right_arm_cartesian.xml" />

<!-- 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/torso_mc_wrapper.xml" />
<xi:include href="hardware/motorControl/icub_left_arm.xml" />
<xi:include href="hardware/motorControl/icub_left_hand.xml" />
<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/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/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-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="hardware/motorControl/icub_left_arm.xml" />
<xi:include href="hardware/motorControl/icub_left_hand.xml" />
<xi:include href="hardware/motorControl/icub_right_arm.xml" />
<xi:include href="hardware/motorControl/icub_right_hand.xml" />
<xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" />
<xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" />
<xi:include href="hardware/motorControl/icub_head.xml" />
<xi:include href="hardware/motorControl/icub_torso.xml" />

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12 changes: 5 additions & 7 deletions ...wrappers/motorControl/head_mc_wrapper.xml → ...rappers/motorControl/head-mc_remapper.xml
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@@ -1,17 +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="head_mc_wrapper" type="controlboardwrapper2">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="head_joints">( 0 5 0 5 )</elem>
<elem name="head_joints">( 0 5 0 5 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/head </param>
<param name="ports"> head </param>
<param name="joints"> 6 </param>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="head_joints"> head_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml
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@@ -0,0 +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_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="15" type="detach" />
</device>
12 changes: 5 additions & 7 deletions ...pers/motorControl/left_arm_mc_wrapper.xml → ...ers/motorControl/left_arm-mc_remapper.xml
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@@ -1,19 +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="left_arm_mc_wrapper" type="controlboardwrapper2">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="left_arm_joints">( 0 7 0 7 )</elem>
<elem name="left_hand_joints">( 8 15 0 7 )</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>
<param name="joints"> 16 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="left_arm_joints"> left_arm_mc </elem>
<elem name="left_arm_joints"> left_arm_mc </elem>
<elem name="left_hand_joints"> left_hand_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml
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@@ -0,0 +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_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="15" type="detach" />
</device>
7 changes: 2 additions & 5 deletions ...pers/motorControl/left_leg_mc_wrapper.xml → ...ers/motorControl/left_leg-mc_remapper.xml
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<?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">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="left_leg_joints">( 0 5 0 5 )</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">
<elem name="left_leg_joints"> left_leg_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/left_leg-mc_wrapper.xml
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<?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_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="15" type="detach" />
</device>
12 changes: 5 additions & 7 deletions ...ers/motorControl/right_arm_mc_wrapper.xml → ...rs/motorControl/right_arm-mc_remapper.xml
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<?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_arm_mc_wrapper" type="controlboardwrapper2">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="right_arm_joints">( 0 7 0 7 )</elem>
<elem name="right_hand_joints">( 8 15 0 7 )</elem>
</paramlist>
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm </param>
<param name="ports"> right_arm </param>
<param name="joints"> 16 </param>
<param name="joints"> 16 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="right_arm_joints"> right_arm_mc </elem>
<elem name="right_arm_joints"> right_arm_mc </elem>
<elem name="right_hand_joints"> right_hand_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/right_arm-mc_wrapper.xml
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<?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_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
<param name="name"> /icub/right_arm </param>
<action phase="startup" level="10" type="attach">
<param name="device"> right_arm_mc_remapper </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
13 changes: 5 additions & 8 deletions ...ers/motorControl/right_leg_mc_wrapper.xml → ...rs/motorControl/right_leg-mc_remapper.xml
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<?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">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="right_joints">( 0 5 0 5 )</elem>
<elem name="right_leg_oints">( 0 5 0 5 )</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>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="right_joints"> right_leg_mc </elem>
<elem name="right_leg_joints"> right_leg_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/right_leg-mc_wrapper.xml
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<?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_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="15" type="detach" />
</device>
17 changes: 0 additions & 17 deletions iCubDijon01/wrappers/motorControl/right_leg_mc_wrapper.xml
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This file was deleted.

8 changes: 3 additions & 5 deletions ...rappers/motorControl/torso_mc_wrapper.xml → ...appers/motorControl/torso-mc_remapper.xml
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@@ -1,17 +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_wrapper" type="controlboardwrapper2">

<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="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">
<elem name="torso_joints"> torso_mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
<action phase="shutdown" level="20" type="detach" />
</device>
10 changes: 10 additions & 0 deletions iCubDijon01/wrappers/motorControl/torso-mc_wrapper.xml
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<?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_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="15" type="detach" />
</device>
4 changes: 2 additions & 2 deletions iCubLisboa01/calibrators/head_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<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 iCubLisboa01/calibrators/left_arm_calib.xml
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Expand Up @@ -28,11 +28,11 @@
<param name="CALIB_ORDER">(0 1 2 3) (4 6 7) (5)</param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm_mc</param>
<param name="target">left_arm_mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">left_arm_mc</param>
<param name="target">left_arm_mc_remapper</param>
</action>

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