Update iCubGenova09 to the use of the latest NWS/NWC layers (#319)

robotology · Dec 23, 2021 · 5bc2a39 · 5bc2a39
1 parent b5c53b7
commit 5bc2a39
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Showing 59 changed files with 510 additions and 999 deletions.
diff --git a/iCubGenova09/calibrators/face-calib.xml b/iCubGenova09/calibrators/face-calib.xml
@@ -48,11 +48,11 @@
         <param name="CALIB_ORDER"> (0) </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" />

diff --git a/iCubGenova09/calibrators/head-calib.xml b/iCubGenova09/calibrators/head-calib.xml
@@ -39,11 +39,11 @@
         <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" />

diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml
@@ -35,11 +35,11 @@
 <param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15)</param> <!-- removed joint 14 -->
 <!-- <param name="CALIB_ORDER">(1) (0) (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" />

diff --git a/iCubGenova09/calibrators/left_forearm-calib.xml b/iCubGenova09/calibrators/left_forearm-calib.xml
diff --git a/iCubGenova09/calibrators/left_leg-calib.xml b/iCubGenova09/calibrators/left_leg-calib.xml
@@ -34,11 +34,11 @@
   <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </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"/>

diff --git a/iCubGenova09/calibrators/left_upperarm-calib.xml b/iCubGenova09/calibrators/left_upperarm-calib.xml
diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml
@@ -36,11 +36,11 @@
 <!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
 <param name="CALIB_ORDER"> (1) (0) (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" />

diff --git a/iCubGenova09/calibrators/right_forearm-calib.xml b/iCubGenova09/calibrators/right_forearm-calib.xml
diff --git a/iCubGenova09/calibrators/right_leg-calib.xml b/iCubGenova09/calibrators/right_leg-calib.xml
@@ -35,11 +35,11 @@
   <!-- (1) (2) (3) (4) (5) -->
 
   <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"/>

diff --git a/iCubGenova09/calibrators/right_upperarm-calib.xml b/iCubGenova09/calibrators/right_upperarm-calib.xml
diff --git a/iCubGenova09/calibrators/torso-calib.xml b/iCubGenova09/calibrators/torso-calib.xml
@@ -42,11 +42,11 @@
 		<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" />

diff --git a/iCubGenova09/cartesian/left_arm-cartesian.xml b/iCubGenova09/cartesian/left_arm-cartesian.xml
@@ -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>
 

diff --git a/iCubGenova09/cartesian/right_arm-cartesian.xml b/iCubGenova09/cartesian/right_arm-cartesian.xml
@@ -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>
 

diff --git a/iCubGenova09/head-face.xml b/iCubGenova09/head-face.xml
@@ -9,14 +9,20 @@
 
 
     <devices>
+
+    <!-- motor controllers wrappers -->
+    <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
+    <xi:include href="wrappers/motorControl/face-mc_wrapper.xml" />
+
+    <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/face-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-mc.xml" /> 
-    <xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
 
 
     <!--  CALIBRATORS -->