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S-Dafarrapattacini
S-Dafarra
authored and
pattacini
committed
[ergoCubSN000] Added possibility to run the robot without jtcvc devices
1 parent 331703f commit 0706a87

11 files changed

+125
-33
lines changed

‎ergoCubSN000/ergocub.xml‎

Lines changed: 23 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -21,17 +21,25 @@
2121
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" disabled_by="disable_left_leg" />
2222
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" disabled_by="disable_right_leg" />
2323

24-
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" disabled_by="disable_left_leg" />
25-
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" disabled_by="disable_right_leg" />
24+
<xi:include href="wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />
25+
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" disabled_by="disable_left_leg" enabled_by="remapper_no_jtcvc" />
2626

27-
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
28-
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" />
27+
<xi:include href="wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
28+
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" disabled_by="disable_right_leg" enabled_by="remapper_no_jtcvc" />
2929

30+
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
3031
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
31-
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" />
32+
33+
<xi:include href="wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
34+
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" enabled_by="remapper_no_jtcvc" />
35+
36+
<xi:include href="wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
37+
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" enabled_by="remapper_no_jtcvc" />
3238

3339
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" disabled_by="disable_torso" />
34-
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" disabled_by="disable_torso" />
40+
41+
<xi:include href="wrappers/motorControl/torso-mc_remapper-jtcvc.xml" disabled_by="disable_torso disable_jtcvc" />
42+
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" disabled_by="disable_torso" enabled_by="remapper_no_jtcvc" />
3543

3644
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" disabled_by="disable_head" />
3745
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" disabled_by="disable_head" />
@@ -147,15 +155,15 @@
147155
<xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_leg" />
148156

149157
<!-- motor controllers jtcvc -->
150-
<xi:include href="wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml" disabled_by="disable_left_arm" />
151-
<xi:include href="wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml" disabled_by="disable_left_arm" />
152-
<xi:include href="wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml" disabled_by="disable_right_arm" />
153-
<xi:include href="wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml" disabled_by="disable_right_arm" />
154-
<xi:include href="wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml" disabled_by="disable_torso" />
155-
<xi:include href="wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml" disabled_by="disable_right_leg" />
156-
<xi:include href="wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml" disabled_by="disable_right_leg" />
157-
<xi:include href="wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml" disabled_by="disable_left_leg" />
158-
<xi:include href="wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml" disabled_by="disable_left_leg" />
158+
<xi:include href="wrappers/motorControl/left_arm-eb2-j0_1-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
159+
<xi:include href="wrappers/motorControl/left_arm-eb4-j2_3-jtcvc.xml" disabled_by="disable_left_arm disable_jtcvc" />
160+
<xi:include href="wrappers/motorControl/right_arm-eb1-j0_1-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
161+
<xi:include href="wrappers/motorControl/right_arm-eb3-j2_3-jtcvc.xml" disabled_by="disable_right_arm disable_jtcvc" />
162+
<xi:include href="wrappers/motorControl/torso-eb5-j0_2-jtcvc.xml" disabled_by="disable_torso disable_jtcvc" />
163+
<xi:include href="wrappers/motorControl/right_leg-eb6-j0_3-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
164+
<xi:include href="wrappers/motorControl/right_leg-eb7-j4_5-jtcvc.xml" disabled_by="disable_right_leg disable_jtcvc" />
165+
<xi:include href="wrappers/motorControl/left_leg-eb8-j0_3-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />
166+
<xi:include href="wrappers/motorControl/left_leg-eb9-j4_5-jtcvc.xml" disabled_by="disable_left_leg disable_jtcvc" />
159167

160168
<!-- ESTIMATORS -->
161169
<xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />

‎ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper-jtcvc.xml‎

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,19 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" type="controlboardremapper">
5+
<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>
6+
<param name="joints"> 13 </param>
7+
<action phase="startup" level="5" type="attach">
8+
<paramlist name="networks">
9+
<!-- <elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc </elem> -->
10+
<!-- <elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc </elem> -->
11+
<elem name="left_arm_joints1"> left_arm-eb2-j0_1-jtcvc </elem>
12+
<elem name="left_arm_joints2"> left_arm-eb4-j2_3-jtcvc </elem>
13+
<elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc </elem>
14+
<elem name="left_arm_joints4"> left_arm-eb23-j7_10-mc </elem>
15+
<elem name="left_arm_joints5"> left_arm-eb25-j11_12-mc </elem>
16+
</paramlist>
17+
</action>
18+
<action phase="shutdown" level="20" type="detach" />
19+
</device>

‎ergoCubSN000/wrappers/motorControl/left_arm-mc_remapper.xml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,8 @@
66
<param name="joints"> 13 </param>
77
<action phase="startup" level="5" type="attach">
88
<paramlist name="networks">
9-
<!-- <elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc </elem> -->
10-
<!-- <elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc </elem> -->
11-
<elem name="left_arm_joints1"> left_arm-eb2-j0_1-jtcvc </elem>
12-
<elem name="left_arm_joints2"> left_arm-eb4-j2_3-jtcvc </elem>
9+
<elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc </elem>
10+
<elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc </elem>
1311
<elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc </elem>
1412
<elem name="left_arm_joints4"> left_arm-eb23-j7_10-mc </elem>
1513
<elem name="left_arm_joints5"> left_arm-eb25-j11_12-mc </elem>

‎ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper-jtcvc.xml‎

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,18 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-mc_remapper" type="controlboardremapper">
4+
<paramlist name="networks">
5+
<elem name="left_leg_joints1">( 0 3 0 3 )</elem>
6+
<elem name="left_leg_joints2">( 4 5 0 1 )</elem>
7+
</paramlist>
8+
<param name="joints"> 6 </param>
9+
<action phase="startup" level="5" type="attach">
10+
<paramlist name="networks">
11+
<!-- <elem name="left_leg_joints1"> left_leg-eb8-j0_3-mc </elem> -->
12+
<!-- <elem name="left_leg_joints2"> left_leg-eb9-j4_5-mc </elem> -->
13+
<elem name="left_leg_joints1"> left_leg-eb8-j0_3-jtcvc </elem>
14+
<elem name="left_leg_joints2"> left_leg-eb9-j4_5-jtcvc </elem>
15+
</paramlist>
16+
</action>
17+
<action phase="shutdown" level="20" type="detach" />
18+
</device>

‎ergoCubSN000/wrappers/motorControl/left_leg-mc_remapper.xml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -8,10 +8,8 @@
88
<param name="joints"> 6 </param>
99
<action phase="startup" level="5" type="attach">
1010
<paramlist name="networks">
11-
<!-- <elem name="left_leg_joints1"> left_leg-eb8-j0_3-mc </elem> -->
12-
<!-- <elem name="left_leg_joints2"> left_leg-eb9-j4_5-mc </elem> -->
13-
<elem name="left_leg_joints1"> left_leg-eb8-j0_3-jtcvc </elem>
14-
<elem name="left_leg_joints2"> left_leg-eb9-j4_5-jtcvc </elem>
11+
<elem name="left_leg_joints1"> left_leg-eb8-j0_3-mc </elem>
12+
<elem name="left_leg_joints2"> left_leg-eb9-j4_5-mc </elem>
1513
</paramlist>
1614
</action>
1715
<action phase="shutdown" level="20" type="detach" />

‎ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper-jtcvc.xml‎

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,19 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" type="controlboardremapper">
5+
<param name="axesNames">(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc)</param>
6+
<param name="joints"> 13 </param>
7+
<action phase="startup" level="5" type="attach">
8+
<paramlist name="networks">
9+
<!-- <elem name="right_arm_joints1"> right_arm-eb1-j0_1-mc </elem> -->
10+
<elem name="right_arm_joints1"> right_arm-eb1-j0_1-jtcvc </elem>
11+
<!-- <elem name="right_arm_joints2"> right_arm-eb3-j2_3-mc </elem> -->
12+
<elem name="right_arm_joints2"> right_arm-eb3-j2_3-jtcvc </elem>
13+
<elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc </elem>
14+
<elem name="right_arm_joints4"> right_arm-eb22-j7_10-mc </elem>
15+
<elem name="right_arm_joints5"> right_arm-eb24-j11_12-mc </elem>
16+
</paramlist>
17+
</action>
18+
<action phase="shutdown" level="20" type="detach" />
19+
</device>

‎ergoCubSN000/wrappers/motorControl/right_arm-mc_remapper.xml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,10 +6,8 @@
66
<param name="joints"> 13 </param>
77
<action phase="startup" level="5" type="attach">
88
<paramlist name="networks">
9-
<!-- <elem name="right_arm_joints1"> right_arm-eb1-j0_1-mc </elem> -->
10-
<elem name="right_arm_joints1"> right_arm-eb1-j0_1-jtcvc </elem>
11-
<!-- <elem name="right_arm_joints2"> right_arm-eb3-j2_3-mc </elem> -->
12-
<elem name="right_arm_joints2"> right_arm-eb3-j2_3-jtcvc </elem>
9+
<elem name="right_arm_joints1"> right_arm-eb1-j0_1-mc </elem>
10+
<elem name="right_arm_joints2"> right_arm-eb3-j2_3-mc </elem>
1311
<elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc </elem>
1412
<elem name="right_arm_joints4"> right_arm-eb22-j7_10-mc </elem>
1513
<elem name="right_arm_joints5"> right_arm-eb24-j11_12-mc </elem>

‎ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper-jtcvc.xml‎

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,18 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-mc_remapper" type="controlboardremapper">
4+
<paramlist name="networks">
5+
<elem name="right_leg_joints1">( 0 3 0 3 )</elem>
6+
<elem name="right_leg_joints2">( 4 5 0 1 )</elem>
7+
</paramlist>
8+
<param name="joints"> 6 </param>
9+
<action phase="startup" level="5" type="attach">
10+
<paramlist name="networks">
11+
<!-- <elem name="right_leg_joints1"> right_leg-eb6-j0_3-mc </elem> -->
12+
<!-- <elem name="right_leg_joints2"> right_leg-eb7-j4_5-mc </elem> -->
13+
<elem name="right_leg_joints1"> right_leg-eb6-j0_3-jtcvc </elem>
14+
<elem name="right_leg_joints2"> right_leg-eb7-j4_5-jtcvc </elem>
15+
</paramlist>
16+
</action>
17+
<action phase="shutdown" level="20" type="detach" />
18+
</device>

‎ergoCubSN000/wrappers/motorControl/right_leg-mc_remapper.xml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -8,10 +8,8 @@
88
<param name="joints"> 6 </param>
99
<action phase="startup" level="5" type="attach">
1010
<paramlist name="networks">
11-
<!-- <elem name="right_leg_joints1"> right_leg-eb6-j0_3-mc </elem> -->
12-
<!-- <elem name="right_leg_joints2"> right_leg-eb7-j4_5-mc </elem> -->
13-
<elem name="right_leg_joints1"> right_leg-eb6-j0_3-jtcvc </elem>
14-
<elem name="right_leg_joints2"> right_leg-eb7-j4_5-jtcvc </elem>
11+
<elem name="right_leg_joints1"> right_leg-eb6-j0_3-mc </elem>
12+
<elem name="right_leg_joints2"> right_leg-eb7-j4_5-mc </elem>
1513
</paramlist>
1614
</action>
1715
<action phase="shutdown" level="20" type="detach" />

‎ergoCubSN000/wrappers/motorControl/torso-mc_remapper-jtcvc.xml‎

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,19 @@
1+
<?xml version="1.0" encoding="UTF-8"?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso-mc_remapper" type="controlboardremapper">
5+
6+
<!-- These are the regular parameters -->
7+
<param name="axesNames">(torso_roll,torso_pitch,torso_yaw)</param>
8+
9+
<!-- This are the parametes with torso_pitch not exposed outside of the yarprobotinterface
10+
<param name="axesNames">(torso_roll,torso_yaw)</param> -->
11+
<param name="joints"> 3 </param>
12+
<action phase="startup" level="5" type="attach">
13+
<paramlist name="networks">
14+
<!-- <elem name="torso_joints"> torso-eb5-j0_2-mc </elem> -->
15+
<elem name="torso_joints"> torso-eb5-j0_2-jtcvc </elem>
16+
</paramlist>
17+
</action>
18+
<action phase="shutdown" level="20" type="detach" />
19+
</device>

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