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Upgrade robots to the latest NWS/NWC layers - 4 #324

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merged 6 commits into from
Mar 4, 2022
Merged

Upgrade robots to the latest NWS/NWC layers - 4 #324

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dc7a1be
iCubEdinburg01 - updated files for nws layer
davidetome Jan 17, 2022
b72dc93
iCubSingapore01 - updated files for nws layer
davidetome Jan 17, 2022
f9b8a33
iCubShenzhen01 - updated files for nws layer
davidetome Jan 17, 2022
4beece9
iCubHongKong01 - updated files for nws layer
davidetome Jan 17, 2022
d113a11
iCubEdinburgh01 - fixed errors after testing files
davidetome Jan 28, 2022
b60d859
iCubShenzen01 - fixed errors after testing files
davidetome Jan 28, 2022
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4 changes: 2 additions & 2 deletions iCubEdinburgh01/calibrators/face-calib.xml
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Expand Up @@ -44,11 +44,11 @@
<param name="CALIB_ORDER"> (0 1 2 3 4) ( 5) </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 iCubEdinburgh01/calibrators/head-calib.xml
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Expand Up @@ -38,11 +38,11 @@


<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 iCubEdinburgh01/calibrators/left_arm-calib.xml
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<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 iCubEdinburgh01/calibrators/left_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">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 iCubEdinburgh01/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 iCubEdinburgh01/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 iCubEdinburgh01/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 iCubEdinburgh01/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 iCubEdinburgh01/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 iCubEdinburgh01/icub_all.xml
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Expand Up @@ -4,44 +4,54 @@
<robot name="iCubEdinburgh01" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">

<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" />

<!-- 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_1-mc.xml" />
<xi:include href="./hardware/motorControl/face-eb23-j2_5-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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17 changes: 17 additions & 0 deletions iCubEdinburgh01/wrappers/motorControl/face-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="face-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="face_joints1">( 0 1 0 1 )</elem>
<elem name="face_joints2">( 2 5 0 3 )</elem>
</paramlist>
<param name="joints"> 6 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="face_joints1"> face-eb22-j0_1-mc </elem>
<elem name="face_joints2"> face-eb23-j2_5-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
25 changes: 7 additions & 18 deletions iCubEdinburgh01/wrappers/motorControl/face-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="face-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/face </param>
<param name="ports"> face </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"> face-eb22-j0_1-mc </elem>
<elem name="SecondSetOfJoints"> face-eb23-j2_5-mc </elem>
<elem name="Calibrator"> head-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 iCubEdinburgh01/wrappers/motorControl/head-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="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 iCubEdinburgh01/wrappers/motorControl/head-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="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>
64 changes: 64 additions & 0 deletions iCubEdinburgh01/wrappers/motorControl/icub_ros_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="icub_all_joints_mc_wrapper" type="controlboardwrapper2">
<param name="period"> 10 </param>
<param name="name"> /icub04/all_joints </param>
<param name="joints"> 50 </param>
<paramlist name="networks">
<elem name="head_firstset">( 0 1 0 1 )</elem>
<!-- 2 -->
<elem name="head_secondset">( 2 2 0 0 )</elem>
<!-- 1 -->
<elem name="torso">( 3 5 0 2 )</elem>
<!-- 3 -->
<elem name="right_arm_firstset">( 6 9 0 3 )</elem>
<!-- 4 -->
<elem name="right_arm_secondset">( 10 13 0 3 )</elem>
<!-- 4 -->
<elem name="right_arm_thirdset">( 14 17 0 3 )</elem>
<!-- 4 -->
<elem name="right_arm_fourthset">( 18 21 0 3 )</elem>
<!-- 4 -->
<elem name="left_arm_firstset">( 22 25 0 3 )</elem>
<!-- 4 -->
<elem name="left_arm_secondset">( 26 29 0 3 )</elem>
<!-- 4 -->
<elem name="left_arm_thirdset">( 30 33 0 3 )</elem>
<!-- 4 -->
<elem name="left_arm_fourthset">( 34 37 0 3 )</elem>
<!-- 4 -->
<elem name="left_leg_firstset">( 38 41 0 3 )</elem>
<!-- 4 -->
<elem name="left_leg_secondset">( 42 43 0 1 )</elem>
<!-- 2 -->
<elem name="right_leg_firstset">( 44 47 0 3 )</elem>
<!-- 4 -->
<elem name="right_leg_secondset">( 48 49 0 1 )</elem>
<!-- 2 -->
</paramlist>
<group name="ROS">
<param name="useROS"> true </param>
<param name="ROS_topicName"> /icub04/joint_states </param>
<param name="ROS_nodeName"> /icub04/joint_state_publisher </param>
</group>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="head_firstset"> head-eb20-j0_1-mc </elem>
<elem name="head_secondset"> head-eb21-j2_5-mc </elem>
<elem name="torso"> torso-eb5-j0_2-mc </elem>
<elem name="right_arm_firstset"> right_arm-eb3-j0_3-mc </elem>
<elem name="right_arm_secondset"> right_arm-eb27-j4_7-mc </elem>
<elem name="right_arm_thirdset"> right_arm-eb28-j8_11-mc </elem>
<elem name="right_arm_fourthset"> right_arm-eb29-j12_15-mc </elem>
<elem name="left_arm_firstset"> left_arm-eb1-j0_3-mc </elem>
<elem name="left_arm_secondset">left_arm-eb24-j4_7-mc </elem>
<elem name="left_arm_thirdset"> left_arm-eb25-j8_11-mc </elem>
<elem name="left_arm_fourthset"> left_arm-eb26-j12_15-mc </elem>
<elem name="left_leg_firstset"> left_leg-eb6-j0_3-mc </elem>
<elem name="left_leg_secondset"> left_leg-eb7-j4_5-mc </elem>
<elem name="right_leg_firstset"> right_leg-eb8-j0_3-mc </elem>
<elem name="right_leg_secondset"> right_leg-eb9-j4_5-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
21 changes: 21 additions & 0 deletions iCubEdinburgh01/wrappers/motorControl/left_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="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 iCubEdinburgh01/wrappers/motorControl/left_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="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>
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