Migrate iCub FT to have one NWS for each part

robotology · May 17, 2023 · dcfa996 · dcfa996
1 parent 188902a
commit dcfa996
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Showing 456 changed files with 3,164 additions and 2,831 deletions.
diff --git a/iCubAberystwyth01/icub_all.xml b/iCubAberystwyth01/icub_all.xml
@@ -45,12 +45,16 @@
     <xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
     <xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
     <xi:include href="hardware/FT/left_arm_strain.xml" />
     <xi:include href="hardware/FT/left_leg_strain.xml" />
+    <xi:include href="hardware/FT/left_foot_strain.xml" />
     <xi:include href="hardware/FT/right_arm_strain.xml" />
     <xi:include href="hardware/FT/right_leg_strain.xml" />
+    <xi:include href="hardware/FT/right_foot_strain.xml" />
     <xi:include href="hardware/MAIS/left_hand_mais.xml" />
     <xi:include href="hardware/MAIS/right_hand_mais.xml" />
 

diff --git a/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/left_foot_FT_wrapper.xml
diff --git a/iCubAberystwyth01/wrappers/FT/left_leg-FT_remapper.xml b/iCubAberystwyth01/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg_strain">  left_leg_strain </elem>
+                <elem name="left_foot_strain">  left_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -4,12 +4,12 @@
 		<param name="period">       10  				</param>
 <param name="name">       /icub/left_leg/FT       </param>
 
-		<action phase="startup" level="5" type="attach">
+		<action phase="startup" level="10" type="attach">
 		    <paramlist name="networks">
-		        <elem name="FirstStrain">  left_leg_strain </elem>
+		        <elem name="FirstStrain">  left_leg-FT_remapper </elem>
 		    </paramlist>
 		</action>
 
-		<action phase="shutdown" level="5" type="detach" />
+		<action phase="shutdown" level="15" type="detach" />
 	</device>
 
diff --git a/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/right_foot_FT_wrapper.xml
diff --git a/iCubAberystwyth01/wrappers/FT/right_leg-FT_remapper.xml b/iCubAberystwyth01/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg_strain">  right_leg_strain </elem>
+                <elem name="right_foot_strain">  right_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubAberystwyth01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -4,12 +4,12 @@
 		<param name="period">       10  				</param>
 <param name="name">       /icub/right_leg/FT       </param>
 
-		<action phase="startup" level="5" type="attach">
+		<action phase="startup" level="10" type="attach">
 		    <paramlist name="networks">
-		        <elem name="FirstStrain">  right_leg_strain </elem>
+		        <elem name="FirstStrain">  right_leg-FT_remapper </elem>
 		    </paramlist>
 		</action>
 
-		<action phase="shutdown" level="5" type="detach" />
+		<action phase="shutdown" level="15" type="detach" />
 	</device>
 
diff --git a/iCubAnkara01/icub_all.xml b/iCubAnkara01/icub_all.xml
@@ -45,12 +45,16 @@
     <xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
     <xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
     <xi:include href="hardware/FT/left_arm_strain.xml" />
     <xi:include href="hardware/FT/left_leg_strain.xml" />
+    <xi:include href="hardware/FT/left_foot_strain.xml" />
     <xi:include href="hardware/FT/right_arm_strain.xml" />
     <xi:include href="hardware/FT/right_leg_strain.xml" />
+    <xi:include href="hardware/FT/right_foot_strain.xml" />
     <xi:include href="hardware/MAIS/left_hand_mais.xml" />
     <xi:include href="hardware/MAIS/right_hand_mais.xml" />
 

diff --git a/iCubAnkara01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubAnkara01/wrappers/FT/left_foot_FT_wrapper.xml
diff --git a/iCubAnkara01/wrappers/FT/left_leg-FT_remapper.xml b/iCubAnkara01/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg_strain">  left_leg_strain </elem>
+                <elem name="left_foot_strain">  left_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubAnkara01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubAnkara01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -4,12 +4,12 @@
 		<param name="period">       10  				</param>
 <param name="name">       /icub/left_leg/FT       </param>
 
-		<action phase="startup" level="5" type="attach">
+		<action phase="startup" level="10" type="attach">
 		    <paramlist name="networks">
-		        <elem name="FirstStrain">  left_leg_strain </elem>
+		        <elem name="FirstStrain">  left_leg-FT_remapper </elem>
 		    </paramlist>
 		</action>
 
-		<action phase="shutdown" level="5" type="detach" />
+		<action phase="shutdown" level="15" type="detach" />
 	</device>
 
diff --git a/iCubAnkara01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubAnkara01/wrappers/FT/right_foot_FT_wrapper.xml
diff --git a/iCubAnkara01/wrappers/FT/right_leg-FT_remapper.xml b/iCubAnkara01/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg_strain">  right_leg_strain </elem>
+                <elem name="right_foot_strain">  right_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubAnkara01/wrappers/FT/right_leg_FT_wrapper.xml b/iCubAnkara01/wrappers/FT/right_leg_FT_wrapper.xml
@@ -4,12 +4,12 @@
 		<param name="period">       10  				</param>
 <param name="name">       /icub/right_leg/FT       </param>
 
-		<action phase="startup" level="5" type="attach">
+		<action phase="startup" level="10" type="attach">
 		    <paramlist name="networks">
-		        <elem name="FirstStrain">  right_leg_strain </elem>
+		        <elem name="FirstStrain">  right_leg-FT_remapper </elem>
 		    </paramlist>
 		</action>
 
-		<action phase="shutdown" level="5" type="detach" />
+		<action phase="shutdown" level="15" type="detach" />
 	</device>
 
diff --git a/iCubBarcelona01/icub_all.xml b/iCubBarcelona01/icub_all.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<robot name="iCubBarcelona01" xmlns:xi="http://www.w3.org/2001/XInclude">
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<robot name="iCubAnkara01" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">
 <devices>
     <!-- cartesian -->
     <xi:include href="cartesian/left_arm_cartesian.xml" />
@@ -44,22 +45,24 @@
     <xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
     <xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
+    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
+    <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
     <xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
     <xi:include href="hardware/FT/left_arm_strain.xml" />
     <xi:include href="hardware/FT/left_leg_strain.xml" />
+    <xi:include href="hardware/FT/left_foot_strain.xml" />
     <xi:include href="hardware/FT/right_arm_strain.xml" />
     <xi:include href="hardware/FT/right_leg_strain.xml" />
+    <xi:include href="hardware/FT/right_foot_strain.xml" />
     <xi:include href="hardware/MAIS/left_hand_mais.xml" />
     <xi:include href="hardware/MAIS/right_hand_mais.xml" />
 
     <!-- SKIN -->
     <xi:include href="wrappers/skin/left_arm_skin_wrapper.xml" />
     <xi:include href="wrappers/skin/right_arm_skin_wrapper.xml" />
-    <xi:include href="wrappers/skin/torso_skin_wrapper.xml" />
     <xi:include href="hardware/skin/left_arm.xml" />
     <xi:include href="hardware/skin/right_arm.xml" />
-    <xi:include href="hardware/skin/torso.xml" />
 
     <!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
     <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />

diff --git a/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/left_foot_FT_wrapper.xml
diff --git a/iCubBarcelona01/wrappers/FT/left_leg-FT_remapper.xml b/iCubBarcelona01/wrappers/FT/left_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (l_leg_ft_sensor l_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="left_leg_strain">  left_leg_strain </elem>
+                <elem name="left_foot_strain">  left_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/left_leg_FT_wrapper.xml
@@ -4,12 +4,12 @@
 		<param name="period">       10  				</param>
 <param name="name">       /icub/left_leg/FT       </param>
 
-		<action phase="startup" level="5" type="attach">
+		<action phase="startup" level="10" type="attach">
 		    <paramlist name="networks">
-		        <elem name="FirstStrain">  left_leg_strain </elem>
+		        <elem name="FirstStrain">  left_leg-FT_remapper </elem>
 		    </paramlist>
 		</action>
 
-		<action phase="shutdown" level="5" type="detach" />
+		<action phase="shutdown" level="15" type="detach" />
 	</device>
 
diff --git a/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml b/iCubBarcelona01/wrappers/FT/right_foot_FT_wrapper.xml
diff --git a/iCubBarcelona01/wrappers/FT/right_leg-FT_remapper.xml b/iCubBarcelona01/wrappers/FT/right_leg-FT_remapper.xml
@@ -0,0 +1,22 @@
+<?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_remapper" type="multipleanalogsensorsremapper">
+        <!-- The below parameter names are set from the macro MAS_getTagFromEnum(enum MAS_SensorType) + "Names"
+             defined in <yarp/dev/MultipleAnalogSensorsInterfaces.h> and respective device source file -->
+        <param name="SixAxisForceTorqueSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <param name="TemperatureSensorsNames">
+          (r_leg_ft_sensor r_foot_ft_sensor)
+        </param>
+        <action phase="startup" level="5" type="attach">
+            <paramlist name="networks">
+                <elem name="right_leg_strain">  right_leg_strain </elem>
+                <elem name="right_foot_strain">  right_foot_strain </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>