[ergoCubSN000] added missing joints param

[pattacini]

This PR fixes #502 adding missing joints param.

The CI didn't catch it as it was running based on pull_request_target event (to fetch an env var). Previously fixed it via f819481.

[traversaro]

What was the error? If jointAxes is passed, in theory controlboardremapper does not need any joints parameter, see:

• https://www.yarp.it/latest/classControlBoardRemappe r.html#details
• https://github.com/robotology/yarp/blob/v3.8.0/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp#L51
• https://github.com/robotology/yarp/blob/v3.8.0/src/devices/controlBoardRemapper/ControlBoardRemapper.cpp#L111

[pattacini]

The error is exactly the missing joints param.

The XSD schema used to run the verification at the moment is not general enough to catch this peculiarity and it's also difficult to enhance it as we don't use XML as it ought to be used, unfortunately.

I saw that joints was already used in conjunction with jointAxes, although not required as you said. See for example:

robots-configuration/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml

Lines 5 to 6 in f819481

	<param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc)</param>
	<param name="joints"> 13 </param>

As of now, I need it to make the XML validation run flawlessly, even if it's not required.

[pattacini]

cc @Nicogene

[traversaro]

The error is exactly the missing joints param.

The XSD schema used to run the verification at the moment is not general enough to catch this peculiarity and it's also difficult to enhance it as we don't use XML as it ought to be used, unfortunately.

I saw that joints was already used in conjunction with jointAxes, although not required as you said. See for example:

robots-configuration/ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml

Lines 5 to 6 in f819481

	<param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc)</param>
	<param name="joints"> 13 </param>

As of now, I need it to make the XML validation run flawlessly, even if it's not required.

Ah, ok, so the source of the check is

robots-configuration/tests/dry-run/check-xml/schemas/remapper.xsd

Line 38 in f819481

<xs:attribute name="name" type="xs:string" use="required" fixed="joints" />

, I see.

[traversaro]

A nitpick (that should not be a big problem as the value is actually ignored), probably it should be 45 as the original one (before removing the joint) was 46 (see https://github.com/robotology/robots-configuration/pull/502/files#diff-6dfa09278879a57fda38fbadef41b069ec9b0f5d0b9d111290eba6e1d2492813L13 )?

[pattacini]

Counting them manually, it came out 44.

[traversaro]

Counting them manually, it came out 44.

Indeed, it seems that was wrong before, as the number of joints were 4+13+13+3+6+6 = 45 .