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pattacinipattacini
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Update iCubGenova09 to the use of the latest NWS/NWC layers (#319)
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+510
-999
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‎iCubGenova09/calibrators/face-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -48,11 +48,11 @@
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<param name="CALIB_ORDER"> (0) </param> <!-- we can calibrate all joints in parallel (for now not the jaw yet)-->
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<action phase="startup" level="10" type="calibrate">
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<param name="target">face-mc_wrapper</param>
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<param name="target">face-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">face-mc_wrapper</param>
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<param name="target">face-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />

‎iCubGenova09/calibrators/head-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -39,11 +39,11 @@
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<param name="CALIB_ORDER"> (0 1 2) (3) (4 5) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">head-mc_wrapper</param>
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<param name="target">head-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">head-mc_wrapper</param>
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<param name="target">head-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />

‎iCubGenova09/calibrators/left_arm-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -35,11 +35,11 @@
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<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15)</param> <!-- removed joint 14 -->
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<!-- <param name="CALIB_ORDER">(1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param> -->
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<action phase="startup" level="10" type="calibrate">
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<param name="target">left_arm-mc_wrapper</param>
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<param name="target">left_arm-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">left_arm-mc_wrapper</param>
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<param name="target">left_arm-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />

‎iCubGenova09/calibrators/left_forearm-calib.xml

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This file was deleted.

‎iCubGenova09/calibrators/left_leg-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -34,11 +34,11 @@
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<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">left_leg-mc_wrapper</param>
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<param name="target">left_leg-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">left_leg-mc_wrapper</param>
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<param name="target">left_leg-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort"/>

‎iCubGenova09/calibrators/left_upperarm-calib.xml

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This file was deleted.

‎iCubGenova09/calibrators/right_arm-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -36,11 +36,11 @@
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<!--param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param-->
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<param name="CALIB_ORDER"> (1) (0) (2) (3) (4) (5 6) (7) (8 9) (11 13) (10 12 14 15) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">right_arm-mc_wrapper</param>
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<param name="target">right_arm-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">right_arm-mc_wrapper</param>
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<param name="target">right_arm-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />

‎iCubGenova09/calibrators/right_forearm-calib.xml

-48
This file was deleted.

‎iCubGenova09/calibrators/right_leg-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -35,11 +35,11 @@
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<!-- (1) (2) (3) (4) (5) -->
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<action phase="startup" level="10" type="calibrate">
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<param name="target">right_leg-mc_wrapper</param>
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<param name="target">right_leg-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">right_leg-mc_wrapper</param>
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<param name="target">right_leg-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort"/>

‎iCubGenova09/calibrators/right_upperarm-calib.xml

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This file was deleted.

‎iCubGenova09/calibrators/torso-calib.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -42,11 +42,11 @@
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<param name="CALIB_ORDER"> (0) (1) (2) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">torso-mc_wrapper</param>
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<param name="target">torso-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">torso-mc_wrapper</param>
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<param name="target">torso-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />

‎iCubGenova09/cartesian/left_arm-cartesian.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -45,8 +45,8 @@
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="torso">torso-mc_wrapper</elem>
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<elem name="left_arm">left_arm-mc_wrapper</elem>
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<elem name="torso">torso-mc_remapper</elem>
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<elem name="left_arm">left_arm-mc_remapper</elem>
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</paramlist>
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</action>
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‎iCubGenova09/cartesian/right_arm-cartesian.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -45,8 +45,8 @@
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="torso">torso-mc_wrapper</elem>
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<elem name="right_arm">right_arm-mc_wrapper</elem>
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<elem name="torso">torso-mc_remapper</elem>
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<elem name="right_arm">right_arm-mc_remapper</elem>
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</paramlist>
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</action>
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‎iCubGenova09/head-face.xml

+8-2
Original file line numberDiff line numberDiff line change
@@ -9,14 +9,20 @@
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<devices>
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<!-- motor controllers wrappers -->
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<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/face-mc_wrapper.xml" />
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<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/face-mc_remapper.xml" />
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<!-- HEAD -->
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<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
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<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
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<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
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<!-- FACE -->
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<xi:include href="./hardware/motorControl/face-eb22-j0-mc.xml" />
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<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
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<!-- CALIBRATORS -->

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