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ergoCubSN000: modify alljoints-mc_remapper and torso-mc_remapper to not expose torso_pitch #502

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Merged
merged 1 commit into from
May 5, 2023
Merged

ergoCubSN000: modify alljoints-mc_remapper and torso-mc_remapper to not expose torso_pitch #502

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15 changes: 6 additions & 9 deletions ergoCubSN000/wrappers/motorControl/alljoints-mc_remapper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,12 @@
<!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="alljoints-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="head_joints"> ( 0 3 0 3 )</elem>
<elem name="left_arm_joints"> ( 4 16 0 12 )</elem>
<elem name="right_arm_joints"> ( 18 30 0 12 )</elem>
<elem name="torso_joints"> ( 31 33 0 2 )</elem>
<elem name="left_leg_joints"> ( 34 39 0 5 )</elem>
<elem name="right_leg_joints"> ( 40 45 0 5 )</elem>
</paramlist>
<param name="joints"> 46 </param>
<!--
These are the regular parameters
<param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,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,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,torso_roll,torso_pitch,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
-->
<!-- These are the parameters with torso_pitch removed -->
<param name="axesNames">(neck_pitch,neck_roll,neck_yaw,camera_tilt,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,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,torso_roll,torso_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
<action phase="startup" level="6" type="attach">
<paramlist name="networks">
<elem name="head_joints"> head-mc_remapper </elem>
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10 changes: 6 additions & 4 deletions ergoCubSN000/wrappers/motorControl/torso-mc_remapper.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,12 @@
<!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="torso-mc_remapper" type="controlboardremapper">
<paramlist name="networks">
<elem name="torso_joints">( 0 2 0 2 )</elem>
</paramlist>
<param name="joints"> 3 </param>
<!--
These are the regular parameters
<param name="axesNames">(torso_roll,torso_pitch,torso_yaw)</param>
-->
<!-- This are the parametes with torso_pitch not exposed outside of the yarprobotinterface -->
<param name="axesNames">(torso_roll,torso_yaw)</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="torso_joints"> torso-eb5-j0_2-mc </elem>
Expand Down