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Upgrade robots to the latest NWS/NWC layers - 10 (#346)
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@davidetome
davidetome authored May 16, 2022
1 parent 0437f6e commit f8ada96
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Showing 67 changed files with 588 additions and 378 deletions.
22 changes: 14 additions & 8 deletions iCubAbuDhabi01/calibrators/head_calib.xml
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Expand Up @@ -6,33 +6,39 @@
<param name="joints"> 6 </param>
<param name="deviceName"> Head_Calibrator </param>
</group>


<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>

<group name="CALIBRATION">

<param name="calibrationType"> 0 0 0 0 0 0 </param>
<param name="calibration1"> 1333 1333 1333 600 500 500 </param>
<param name="calibration2"> 40 40 40 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="startupPosThreshold"> 2 2 180 2 180 180 </param>
</group>

<group name="HOME">
<param name="positionHome"> -40 0 0 0 0 0 </param>
<param name="velocityHome"> 10 10 10 10 10 10 </param>
</group>


<param name="CALIB_ORDER"> (0) (1) (2 3) (5) (4) </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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3 changes: 2 additions & 1 deletion iCubAbuDhabi01/icub_all.xml
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Expand Up @@ -3,7 +3,8 @@

<devices>
<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/head_mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="hardware/motorControl/icub_head.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 iCubAbuDhabi01/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>
16 changes: 0 additions & 16 deletions iCubAbuDhabi01/wrappers/motorControl/head_mc_wrapper.xml
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This file was deleted.

4 changes: 2 additions & 2 deletions iCubChemnitz01/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 iCubChemnitz01/calibrators/right_arm-calib.xml
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Expand Up @@ -33,11 +33,11 @@
</group>
<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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2 changes: 1 addition & 1 deletion iCubChemnitz01/cartesian/right_arm-cartesian.xml
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Expand Up @@ -35,7 +35,7 @@

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

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13 changes: 9 additions & 4 deletions iCubChemnitz01/icub_all.xml
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Expand Up @@ -13,24 +13,29 @@
<xi:include href="cartesian/right_arm-cartesian.xml" />
-->

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

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

<!-- HEAD -->
<xi:include href="hardware/motorControl/head-cfw2_can0-mc.xml" />
<xi:include href="wrappers/motorControl/head-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" />

<!-- INERTIAL SENSOR-->
<!-- INERTIAL SENSOR -->
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/head-inertials_wrapper-deprecated.xml" />
<xi:include href="hardware/inertials/head-inertial.xml" />

<!-- ANALOG SENSOR MAIS -->
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
<xi:include href="hardware/MAIS/right_arm-eb29-j12_15-mais.xml" />
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15 changes: 15 additions & 0 deletions iCubChemnitz01/wrappers/motorControl/head-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="head-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="head_joints">( 0 5 0 5 )</elem>
</paramlist>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="head_joints"> head-cfw2_can0-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
22 changes: 7 additions & 15 deletions iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml
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@@ -1,18 +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 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>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="FirstSetOfJoints"> head-cfw2_can0-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" />
</device>
<action phase="shutdown" level="15" type="detach" />
</device>
21 changes: 21 additions & 0 deletions iCubChemnitz01/wrappers/motorControl/right_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="right_arm-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="right_arm_joints1">( 0 3 0 3 )</elem>
<elem name="right_arm_joints2">( 4 7 0 3 )</elem>
<elem name="right_arm_joints3">( 8 11 0 3 )</elem>
<elem name="right_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="right_arm_joints1"> right_arm-eb3-j0_3-mc </elem>
<elem name="right_arm_joints2"> right_arm-eb27-j4_7-mc </elem>
<elem name="right_arm_joints3"> right_arm-eb28-j8_11-mc </elem>
<elem name="right_arm_joints4"> right_arm-eb29-j12_15-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
30 changes: 7 additions & 23 deletions iCubChemnitz01/wrappers/motorControl/right_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="right_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/right_arm </param>
<param name="ports"> right_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 right_lower_arm-jx_y-mc.xml file -->
<elem name="FirstSetOfJoints"> right_arm-eb3-j0_3-mc </elem>
<elem name="SecondSetOfJoints"> right_arm-eb27-j4_7-mc </elem>
<elem name="ThirdSetOfJoints"> right_arm-eb28-j8_11-mc </elem>
<elem name="FourthSetOfJoints"> right_arm-eb29-j12_15-mc </elem>
<elem name="Calibrator"> right_arm-calibrator </elem>
</paramlist>

<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="5" type="detach" />
</device>
<action phase="shutdown" level="15" type="detach" />
</device>
4 changes: 2 additions & 2 deletions iCubDarmstadt01/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 iCubDarmstadt01/calibrators/left_arm-calib.xml
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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" />
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4 changes: 2 additions & 2 deletions iCubDarmstadt01/calibrators/left_leg-calib.xml
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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 iCubDarmstadt01/calibrators/right_arm-calib.xml
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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" />
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4 changes: 2 additions & 2 deletions iCubDarmstadt01/calibrators/right_leg-calib.xml
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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" />
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4 changes: 2 additions & 2 deletions iCubDarmstadt01/calibrators/torso-calib.xml
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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" />
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4 changes: 2 additions & 2 deletions iCubDarmstadt01/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 iCubDarmstadt01/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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