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Merge branch 'master' into devel
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@pattacini
pattacini committed Jan 17, 2025
2 parents ad3fc65 + 1a0f6fc commit dfefd13
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Showing 5 changed files with 53 additions and 22 deletions.
17 changes: 9 additions & 8 deletions R1SN003/R1.xml
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Expand Up @@ -47,7 +47,8 @@

<!-- LEFT ARM -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" disabled_by="disable_left_arm" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" disabled_by="disable_left_arm disable_left_hand" />
<xi:include href="wrappers/motorControl/left_arm_no_hand-mc_remapper.xml" disabled_by="disable_left_arm" />

<xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" disabled_by="disable_left_arm" />
<xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" disabled_by="disable_left_arm" />
Expand All @@ -57,7 +58,8 @@

<!-- RIGHT ARM -->
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" disabled_by="disable_right_arm" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" disabled_by="disable_right_arm disable_right_hand" />
<xi:include href="wrappers/motorControl/right_arm_no_hand-mc_remapper.xml" disabled_by="disable_right_arm" />

<xi:include href="hardware/motorControl/right_arm-eb5-j0_1-mc.xml" disabled_by="disable_right_arm" />
<xi:include href="hardware/motorControl/right_arm-eb7-j2_3-mc.xml" disabled_by="disable_right_arm" />
Expand Down Expand Up @@ -107,14 +109,13 @@
<xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_arm" /> -->

<!-- ROS -->
<!-- <xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
<xi:include href="wrappers/motorControl/cer_alljoints_ros_wrapper.xml" enabled_by="enable_ros" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/> -->
<xi:include href="wrappers/motorControl/cer_alljoints_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>
<xi:include href="wrappers/motorControl/cer_alljoints_ros2_wrapper.xml" enabled_by="enable_ros2" disabled_by="disable_base disable_head disable_left_arm disable_left_hand disable_right_arm disable_right_hand disable_torso"/>

<!-- BATTERY -->
<xi:include href="wrappers/battery/r1battery.xml" />
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" />
<xi:include href="hardware/battery/r1battery.xml" />
<xi:include href="wrappers/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />
<xi:include href="wrappers/battery/r1battery_nws_ros2.xml" enabled_by="enable_battery enable_ros2" disabled_by="disable_battery disable_ros2" />
<xi:include href="hardware/battery/r1battery.xml" enabled_by="enable_battery" disabled_by="disable_battery" />

</devices>
</robot>
26 changes: 13 additions & 13 deletions R1SN003/wrappers/motorControl/cer_alljoints_remapper.xml
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Expand Up @@ -2,26 +2,26 @@
<!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="cer_all_joints_mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="head">( 0 1 0 1 )</elem>
<elem name="torso">( 2 4 0 2 )</elem>
<elem name="torso_yaw">( 5 5 3 3 )</elem>
<elem name="right_arm">( 6 13 0 7 )</elem>
<elem name="left_arm">( 14 21 0 7 )</elem>
<elem name="right_hand">( 22 23 0 1 )</elem>
<elem name="left_hand">( 24 25 0 1 )</elem>
<elem name="base">( 26 27 0 1 )</elem>
<elem name="base">( 0 1 0 1 )</elem>
<elem name="head">( 2 3 0 1 )</elem>
<elem name="torso">( 4 6 0 2 )</elem>
<elem name="torso_yaw">( 7 7 3 3 )</elem>
<elem name="right_arm">( 8 14 0 6 )</elem>
<elem name="left_arm">( 15 21 0 6 )</elem>
<!-- <elem name="right_hand">( 22 23 0 1 )</elem> -->
<!-- <elem name="left_hand">( 24 25 0 1 )</elem> -->
</paramlist>
<param name="joints"> 28 </param>
<param name="joints"> 22 </param>
<action phase="startup" level="6" type="attach">
<paramlist name="networks">
<elem name="head"> cer_head_mc </elem>
<elem name="torso"> cer_torso_equivalent_mc </elem>
<elem name="torso_yaw"> cer_torso_mc </elem>
<elem name="base"> cer_mobile_base_mc </elem>
<elem name="right_arm"> cer_right_arm_no_hand_mc_remapper </elem>
<elem name="right_hand"> cer_right_hand_mc </elem>
<elem name="left_arm"> cer_left_arm_no_hand_mc_remapper </elem>
<elem name="left_hand"> cer_left_hand_mc </elem>
<elem name="right_arm"> right_arm_no_hand_mc_remapper </elem>
<!-- <elem name="right_hand"> right_hand_mc </elem> -->
<elem name="left_arm"> left_arm_no_hand_mc_remapper </elem>
<!-- <elem name="left_hand"> left_hand_mc </elem> -->
</paramlist>
</action>
<action phase="shutdown" level="19" type="detach" />
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15 changes: 15 additions & 0 deletions R1SN003/wrappers/motorControl/left_arm_no_hand-mc_remapper.xml
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@@ -0,0 +1,15 @@
<?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_no_hand_mc_remapper" type="controlboardremapper">
<param name="axesNames">(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch)</param>
<param name="joints"> 7 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="left_arm_joints1"> left_arm-eb2-j0_1-mc </elem>
<elem name="left_arm_joints2"> left_arm-eb4-j2_3-mc </elem>
<elem name="left_arm_joints3"> left_arm-eb31-j4_6-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions R1SN003/wrappers/motorControl/right_arm_no_hand-mc_remapper.xml
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@@ -0,0 +1,15 @@
<?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_arm_no_hand_mc_remapper" type="controlboardremapper">
<param name="axesNames">(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch)</param>
<param name="joints"> 7 </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="right_arm_joints1"> right_arm-eb5-j0_1-mc </elem>
<elem name="right_arm_joints2"> right_arm-eb7-j2_3-mc </elem>
<elem name="right_arm_joints3"> right_arm-eb30-j4_6-mc </elem>
</paramlist>
</action>
<action phase="shutdown" level="20" type="detach" />
</device>
2 changes: 1 addition & 1 deletion R1SN003/yarprobotinterface.ini
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@@ -1,3 +1,3 @@
config ./R1.xml
enable_tags (enable_ros2)
disable_tags ()
disable_tags (disable_battery)

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