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adding embObjFTsensor support to ETH robots using strain2 #287

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Aug 31, 2021
Merged

adding embObjFTsensor support to ETH robots using strain2 #287

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282a011
adding embObjFTsensor support to all robots using strain2
davidetome Aug 20, 2021
47ac9ec
added embObjFTsensor support also in experimentalSetups
davidetome Aug 20, 2021
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2 changes: 1 addition & 1 deletion iCubGenova02/hardware/FT/left_leg-eb6-j0_3-strain.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

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2 changes: 1 addition & 1 deletion iCubGenova02/hardware/FT/left_leg-eb7-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

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2 changes: 1 addition & 1 deletion iCubGenova02/hardware/FT/right_leg-eb8-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

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2 changes: 1 addition & 1 deletion iCubGenova02/hardware/FT/right_leg-eb9-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

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18 changes: 18 additions & 0 deletions iCubGenova02/wrappers/FT/left_foot-FT_wrapper_multipleSens.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_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_foot </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-strain.xml file -->
<elem name="FirstStrain"> left_leg-eb7-j4_5-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

18 changes: 18 additions & 0 deletions iCubGenova02/wrappers/FT/left_leg-FT_wrapper_multipleSens.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-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg </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-strain.xml file -->
<elem name="FirstStrain"> left_leg-eb6-j0_3-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

18 changes: 18 additions & 0 deletions iCubGenova02/wrappers/FT/right_foot-FT_wrapper_multipleSens.xml
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@@ -0,0 +1,18 @@
<?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_foot-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_foot </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-strain.xml file -->
<elem name="FirstStrain"> right_leg-eb9-j4_5-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

18 changes: 18 additions & 0 deletions iCubGenova02/wrappers/FT/right_leg-FT_wrapper_multipleSens.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-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg </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-strain.xml file -->
<elem name="FirstStrain"> right_leg-eb8-j0_3-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/left_arm-eb1-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
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3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/left_leg-eb6-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/left_leg-eb7-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_lower_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/right_arm-eb3-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/right_leg-eb8-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_upper_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova07/hardware/FT/right_leg-eb9-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_lower_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
18 changes: 18 additions & 0 deletions iCubGenova07/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml
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@@ -0,0 +1,18 @@
<?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-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm </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-strain.xml file -->
<elem name="FirstStrain"> left_arm-eb1-j0_3-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

2 changes: 1 addition & 1 deletion iCubGenova07/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml
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Expand Up @@ -4,7 +4,7 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
Expand Down
18 changes: 18 additions & 0 deletions iCubGenova07/wrappers/FT/right_arm-FT_wrapper_multipleSens.xml
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@@ -0,0 +1,18 @@
<?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-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_arm </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-strain.xml file -->
<elem name="FirstStrain"> right_arm-eb3-j0_3-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/left_arm-eb1-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb1-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/left_leg-eb6-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_upper_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/left_leg-eb7-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb7-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_l_lower_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/right_arm-eb3-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-eb3-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_upper_arm_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/right_leg-eb8-j0_3-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb8-j0_3-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_upper_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
3 changes: 2 additions & 1 deletion iCubGenova08/hardware/FT/right_leg-eb9-j4_5-strain.xml
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Expand Up @@ -3,7 +3,7 @@



<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjStrain">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-eb9-j4_5-strain" type="embObjFTsensor">

<xi:include href="../../general.xml"/>

Expand Down Expand Up @@ -40,6 +40,7 @@
<group name="SETTINGS">
<param name="acquisitionRate"> 10 </param>
<param name="enabledSensors"> id_r_lower_leg_strain </param>
<param name="temperature-acquisitionRate"> 1000 </param> <!-- 1 seconds -->
</group>

<group name="STRAIN_SETTINGS">
Expand Down
18 changes: 18 additions & 0 deletions iCubGenova08/wrappers/FT/left_arm-FT_wrapper_multipleSens.xml
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@@ -0,0 +1,18 @@
<?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-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_arm </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-strain.xml file -->
<elem name="FirstStrain"> left_arm-eb1-j0_3-strain </elem>
</paramlist>
</action>

<action phase="shutdown" level="5" type="detach" />
</device>

2 changes: 1 addition & 1 deletion iCubGenova08/wrappers/FT/left_leg-FT_wrapper_multipleSens.xml
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Expand Up @@ -4,7 +4,7 @@

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg </param>
<param name="name"> /icub/left_leg </param>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
Expand Down
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