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Upgrade robots to the latest NWS/NWC layers - 6 (#329)
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| 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="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> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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> |
17 changes: 17 additions & 0 deletions
17
iCubNancy01/wrappers/motorControl/left_arm-mc_remapper.xml
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| 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="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 15 0 11 )</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-eb2-j4_15-mc </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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| 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_arm-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 15 0 11 )</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-eb2-j4_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
16
iCubNancy01/wrappers/motorControl/left_leg-mc_remapper.xml
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| 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> |
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| 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> |
17 changes: 17 additions & 0 deletions
17
iCubNancy01/wrappers/motorControl/right_arm-mc_remapper.xml
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| 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="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 15 0 11 )</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-eb4-j4_15-mc </elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
26 changes: 7 additions & 19 deletions
26
iCubNancy01/wrappers/motorControl/right_arm-mc_wrapper.xml
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| 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_arm-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 15 0 11 )</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-eb4-j4_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> |
16 changes: 16 additions & 0 deletions
16
iCubNancy01/wrappers/motorControl/right_leg-mc_remapper.xml
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| 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> |
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