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Automatic build. GitHub Actions build: 5177530831
icub-model-generator commit: robotology/icub-models-generator@3d66375 urdf_parser_py commit: ros/urdf_parser_py@31474b9 simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@9431d99
1 parent f33a09c commit d2828db

15 files changed

+163
-21
lines changed

‎iCub/conf/icub.xml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -20,12 +20,12 @@
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<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
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<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
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<!-- ANALOG SENSORS FT -->
23-
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
24-
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
23+
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
24+
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
25+
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
26+
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
2527
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
2628
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
27-
<xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
28-
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
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<!-- INERTIAL SENSOR-->
3131
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />

‎iCub/conf/wrappers/FT/left_arm-FT_wrapper.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
7-
<param name="name"> ${portprefix}/left_arm </param>
7+
<param name="name"> ${portprefix}/left_arm/FT </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">

‎iCub/conf/wrappers/FT/left_leg-FT_remapper.xml

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,20 @@
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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
6+
<param name="SixAxisForceTorqueSensorsNames">
7+
(l_leg_ft_sensor l_foot_ft_sensor)
8+
</param>
9+
<param name="TemperatureSensorsNames">
10+
(l_leg_ft_sensor l_foot_ft_sensor)
11+
</param>
12+
<action phase="startup" level="5" type="attach">
13+
<paramlist name="networks">
14+
<elem name="left_leg_ft_sensor"> icub_left_leg_ft </elem>
15+
<elem name="left_foot_ft_sensor"> icub_left_foot_ft </elem>
16+
</paramlist>
17+
</action>
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<action phase="shutdown" level="20" type="detach" />
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</device>

‎iCub/conf/wrappers/FT/left_leg-FT_wrapper.xml

Lines changed: 16 additions & 0 deletions
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@@ -0,0 +1,16 @@
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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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4+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
6+
<param name="period"> 10 </param>
7+
<param name="name"> ${portprefix}/left_leg/FT </param>
8+
9+
<action phase="startup" level="10" type="attach">
10+
<paramlist name="networks">
11+
<elem name="FirstStrain"> left_leg-FT_remapper </elem>
12+
</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎iCub/conf/wrappers/FT/right_arm-FT_wrapper.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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55
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-FT_wrapper" type="multipleanalogsensorsserver">
66
<param name="period"> 10 </param>
7-
<param name="name"> ${portprefix}/right_arm </param>
7+
<param name="name"> ${portprefix}/right_arm/FT </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">

‎iCub/conf/wrappers/FT/right_leg-FT_remapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
6+
<param name="SixAxisForceTorqueSensorsNames">
7+
(r_leg_ft_sensor r_foot_ft_sensor)
8+
</param>
9+
<param name="TemperatureSensorsNames">
10+
(r_leg_ft_sensor r_foot_ft_sensor)
11+
</param>
12+
<action phase="startup" level="5" type="attach">
13+
<paramlist name="networks">
14+
<elem name="right_leg_ft_sensor"> icub_right_leg_ft </elem>
15+
<elem name="right_foot_ft_sensor"> icub_right_foot_ft </elem>
16+
</paramlist>
17+
</action>
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<action phase="shutdown" level="20" type="detach" />
20+
</device>

‎iCub/conf/wrappers/FT/right_leg-FT_wrapper.xml

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
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<?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+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
6+
<param name="period"> 10 </param>
7+
<param name="name"> ${portprefix}/right_leg/FT </param>
8+
9+
<action phase="startup" level="10" type="attach">
10+
<paramlist name="networks">
11+
<elem name="FirstStrain"> right_leg-FT_remapper </elem>
12+
</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎iCub/conf_icub3/icub.xml

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -20,14 +20,12 @@
2020
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
2121
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
2222
<!-- ANALOG SENSORS FT -->
23-
<xi:include href="wrappers/FT/left_foot-FT_remapper.xml" />
24-
<xi:include href="wrappers/FT/right_foot-FT_remapper.xml" />
25-
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
26-
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
23+
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
24+
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
25+
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
26+
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
2727
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
2828
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
29-
<xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
30-
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
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3230
<!-- INERTIAL SENSOR-->
3331
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />

‎iCub/conf_icub3/icub_ROS2.xml

Lines changed: 5 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -20,14 +20,12 @@
2020
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
2121
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
2222
<!-- ANALOG SENSORS FT -->
23-
<xi:include href="wrappers/FT/left_foot-FT_remapper.xml" />
24-
<xi:include href="wrappers/FT/right_foot-FT_remapper.xml" />
25-
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
26-
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
23+
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
24+
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
25+
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
26+
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
2727
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
2828
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
29-
<xi:include href="wrappers/FT/right_leg_hip-FT_wrapper.xml" />
30-
<xi:include href="wrappers/FT/left_leg_hip-FT_wrapper.xml" />
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3230
<!-- INERTIAL SENSOR-->
3331
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
@@ -41,7 +39,7 @@
4139
<xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" />
4240
<xi:include href="wrappers/FT/left_leg_hip-FT_nws_ros2.xml" />
4341
<xi:include href="wrappers/FT/right_leg_hip-FT_nws_ros2.xml" />
44-
<xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" /> -->
42+
<xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" />
4543
<xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" />
4644
</devices>
4745
</robot>

‎iCub/conf_icub3/wrappers/FT/left_arm-FT_wrapper.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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55
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-FT_wrapper" type="multipleanalogsensorsserver">
66
<param name="period"> 10 </param>
7-
<param name="name"> ${portprefix}/left_arm </param>
7+
<param name="name"> ${portprefix}/left_arm/FT </param>
88

99
<action phase="startup" level="10" type="attach">
1010
<paramlist name="networks">

‎iCub/conf_icub3/wrappers/FT/left_leg-FT_remapper.xml

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
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<?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+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
6+
<param name="SixAxisForceTorqueSensorsNames">
7+
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
8+
</param>
9+
<param name="TemperatureSensorsNames">
10+
(l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
11+
</param>
12+
<action phase="startup" level="5" type="attach">
13+
<paramlist name="networks">
14+
<elem name="left_leg_ft_sensor"> icub_left_leg_ft </elem>
15+
<elem name="left_foot_rear_ft_sensor"> icub_left_foot_rear_ft </elem>
16+
<elem name="left_foot_front_ft_sensor"> icub_left_foot_front_ft </elem>
17+
</paramlist>
18+
</action>
19+
20+
<action phase="shutdown" level="20" type="detach" />
21+
</device>

‎iCub/conf_icub3/wrappers/FT/left_leg-FT_wrapper.xml

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
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+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_wrapper" type="multipleanalogsensorsserver">
6+
<param name="period"> 10 </param>
7+
<param name="name"> ${portprefix}/left_leg/FT </param>
8+
9+
<action phase="startup" level="10" type="attach">
10+
<paramlist name="networks">
11+
<elem name="FirstStrain"> left_leg-FT_remapper </elem>
12+
</paramlist>
13+
</action>
14+
15+
<action phase="shutdown" level="15" type="detach" />
16+
</device>

‎iCub/conf_icub3/wrappers/FT/right_arm-FT_wrapper.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-FT_wrapper" type="multipleanalogsensorsserver">
66
<param name="period"> 10 </param>
7-
<param name="name"> ${portprefix}/right_arm </param>
7+
<param name="name"> ${portprefix}/right_arm/FT </param>
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99
<action phase="startup" level="10" type="attach">
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<paramlist name="networks">

‎iCub/conf_icub3/wrappers/FT/right_leg-FT_remapper.xml

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Original file line numberDiff line numberDiff line change
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<?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+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
6+
<param name="SixAxisForceTorqueSensorsNames">
7+
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
8+
</param>
9+
<param name="TemperatureSensorsNames">
10+
(r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
11+
</param>
12+
<action phase="startup" level="5" type="attach">
13+
<paramlist name="networks">
14+
<elem name="right_leg_ft_sensor"> icub_right_leg_ft </elem>
15+
<elem name="right_foot_rear_ft_sensor"> icub_right_foot_rear_ft </elem>
16+
<elem name="right_foot_front_ft_sensor"> icub_right_foot_front_ft </elem>
17+
</paramlist>
18+
</action>
19+
20+
<action phase="shutdown" level="20" type="detach" />
21+
</device>

‎iCub/conf_icub3/wrappers/FT/right_leg-FT_wrapper.xml

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
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<?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+
5+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_wrapper" type="multipleanalogsensorsserver">
6+
<param name="period"> 10 </param>
7+
<param name="name"> ${portprefix}/right_leg/FT </param>
8+
9+
<action phase="startup" level="10" type="attach">
10+
<paramlist name="networks">
11+
<elem name="FirstStrain"> right_leg-FT_remapper </elem>
12+
</paramlist>
13+
</action>
14+
15+
<action phase="shutdown" level="15" type="detach" />
16+
</device>

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