From f2637b60e4bf091e62a9494e134a89dec8a3c637 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Tue, 22 Jul 2025 16:09:49 +0200
Subject: [PATCH 01/13] Conf files for fineCalibrator demo

Update config files demo
Add file for checking fineCalibrationChecker tool on an amc board
Finalization for demo
---
 .../checker/fineCalibrationCheckerConfig.xml  |  22 +++++++++++++++
 .../lego_setup_amc_advfoc/general.xml         |   4 +++
 .../setup-eb2-j0_2-mc_service.xml             |   5 ++++
 .../lego_setup_amc_advfoc.xml                 |   4 +++
 .../motorControl/setup-rawval-nws_wrapper.xml |  13 +++++++++
 iCubGenova11/calibrators/right_arm-calib.xml  |   1 -
 .../checker/fineCalibrationCheckerConfig.xml  |  26 ++++++++++++++++++
 iCubGenova11/icub_all_no_legs.xml             |   2 ++
 iCubGenova11/output_frame.png                 | Bin 0 -> 21941 bytes
 .../right_arm-mc-rawval-nws_wrapper.xml       |  13 +++++++++
 iCubGenova11/zeroPositionsDataDelta.csv       |   5 ++++
 11 files changed, 94 insertions(+), 1 deletion(-)
 create mode 100644 experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml
 create mode 100644 experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
 create mode 100644 iCubGenova11/checker/fineCalibrationCheckerConfig.xml
 create mode 100644 iCubGenova11/output_frame.png
 create mode 100644 iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
 create mode 100644 iCubGenova11/zeroPositionsDataDelta.csv

diff --git a/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml b/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml
new file mode 100644
index 0000000000..6cdcaad5c3
--- /dev/null
+++ b/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.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="fineCalibrationChecker" type="fineCalibrationChecker">
+        <param name="devicename">fineCalibrationChecker</param>
+        <param name="robotname">setup</param>
+        <param name="remoteRawValuesPort">/setup_mc/raw_data</param>
+        <param name="axesNamesList">(setup_yaw)</param>
+        <param name="goldPositions">(0)</param>
+        <param name="encoderResolutions">(16384)</param>
+
+
+        <action phase="startup" level="15" type="attach">
+            <paramlist name="networks">
+                <elem name="setup_joint_0">setup-eb2-j0_2-mc</elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="2" type="detach" />
+
+    </device>
diff --git a/experimentalSetups/lego_setup_amc_advfoc/general.xml b/experimentalSetups/lego_setup_amc_advfoc/general.xml
index 855a7e7b1e..ff23ffcc0f 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/general.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/general.xml
@@ -9,4 +9,8 @@
       <param name="useLimitedPWM">      false  </param>
       <param name="verbose">            false  </param>
   </group>
+
+  <group name="DEBUG">
+    <param name="embBoardsConnected"> 0 </param>
+  </group>
 </params>
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
index 75aaf619e3..988d372dbb 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
@@ -104,8 +104,13 @@
                 </group>
                 <group name="FIRMWARE">
                     <param name="major">            3       2           </param>
+<<<<<<< Updated upstream
                     <param name="minor">            9       2           </param>
                     <param name="build">            0       0           </param>
+=======
+                    <param name="minor">            9       0           </param>
+                    <param name="build">            0       0          </param>
+>>>>>>> Stashed changes
                 </group>
             </group>
            
diff --git a/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml b/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
index b607c76fa8..c40e3c18e5 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
@@ -12,9 +12,13 @@
             <xi:include href="hardware/motorControl/setup-eb2-j0_2-mc.xml" />
             <xi:include href="wrappers/motorControl/setup-mc_wrapper.xml"  />
             <xi:include href="wrappers/motorControl/setup-mc_remapper.xml" />
+            <xi:include href="wrappers/motorControl/setup-rawval-nws_wrapper.xml" />
     
             <!--  CALIBRATORS -->
             <xi:include href="calibrators/setup-calib.xml" />
+
+            <!-- FINE CALIBRATION CHECKER -->
+            <xi:include href="checker/fineCalibrationCheckerConfig.xml" />
         
     </devices>
 </robot>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml b/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
new file mode 100644
index 0000000000..f9e8159f42
--- /dev/null
+++ b/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
@@ -0,0 +1,13 @@
+<?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="setup-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /setup_mc/raw_data </param>
+    <param name="period"> 2 </param>
+    <action phase="startup" level="10" type="attach">
+        <paramlist name="networks">
+            <elem name="device"> setup-eb2-j0_2-mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
\ No newline at end of file
diff --git a/iCubGenova11/calibrators/right_arm-calib.xml b/iCubGenova11/calibrators/right_arm-calib.xml
index 96a9d8d15d..1572713cb2 100644
--- a/iCubGenova11/calibrators/right_arm-calib.xml
+++ b/iCubGenova11/calibrators/right_arm-calib.xml
@@ -47,4 +47,3 @@
 		<action phase="interrupt3" level="1" type="abort" />
 
 	</device>
-
diff --git a/iCubGenova11/checker/fineCalibrationCheckerConfig.xml b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
new file mode 100644
index 0000000000..9cf236cd42
--- /dev/null
+++ b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
@@ -0,0 +1,26 @@
+<?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="fineCalibrationChecker" type="fineCalibrationChecker">
+        <param name="devicename">fineCalibrationChecker</param>
+        <param name="robotname">iCubGenova11</param>
+        <param name="remoteRawValuesPort">/left_arm/raw_data</param>
+        <!-- <param name="axesNamesList">(r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, r_elbow)</param> -->
+        <param name="axesNamesList">(l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow)</param>
+        <!-- <param name="goldPositions">(35535, 33135, 24960, 25983)</param> --> <!--right _arm-->
+        <param name="goldPositions">(58559, 22639, 48830, 51983)</param> <!--left_arm-->
+        <!--<param name="calibrationDeltas">(1.0, -9.2, -14.2, 0 )</param> --> <!--right_arm-->
+        <param name="calibrationDeltas">(0, -9.2, -17.1, -2.7 )</param> <!--left_arm-->
+        <param name="encoderResolutions">(262144, 262144, 262144, 262144)</param> <!--2^18 raw encoder resolution-->
+
+
+        <action phase="startup" level="15" type="attach">
+            <paramlist name="networks">
+                <elem name="setup_joint_0">left_arm-eb1-j0_3-mc</elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="2" type="detach" />
+
+    </device>
diff --git a/iCubGenova11/icub_all_no_legs.xml b/iCubGenova11/icub_all_no_legs.xml
index 3eaf962f4d..448c290061 100644
--- a/iCubGenova11/icub_all_no_legs.xml
+++ b/iCubGenova11/icub_all_no_legs.xml
@@ -95,5 +95,7 @@
     <xi:include href="calibrators/head-calib.xml" />
     <xi:include href="calibrators/face-calib.xml" />
 
+    <xi:include href="wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml" />
+    <xi:include href="checker/fineCalibrationCheckerConfig.xml" />
     </devices>
 </robot>
diff --git a/iCubGenova11/output_frame.png b/iCubGenova11/output_frame.png
new file mode 100644
index 0000000000000000000000000000000000000000..aeed2f560801072b95d3e3415a629cb510c201b0
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literal 0
HcmV?d00001

diff --git a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
new file mode 100644
index 0000000000..5364991ccb
--- /dev/null
+++ b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
@@ -0,0 +1,13 @@
+<?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-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /left_arm/raw_data </param>
+    <param name="period"> 2 </param>
+    <action phase="startup" level="10" type="attach">
+        <paramlist name="networks">
+            <elem name="device"> left_arm-eb1-j0_3-mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
\ No newline at end of file
diff --git a/iCubGenova11/zeroPositionsDataDelta.csv b/iCubGenova11/zeroPositionsDataDelta.csv
new file mode 100644
index 0000000000..82dece8b41
--- /dev/null
+++ b/iCubGenova11/zeroPositionsDataDelta.csv
@@ -0,0 +1,5 @@
+AxisName,GoldPosition,RescaledPosition,RawPosition,Delta
+l_shoulder_pitch,58559,64729,258849,0
+l_shoulder_roll,22639,18830,75303,1
+l_shoulder_yaw,48830,45669,182631,0
+l_elbow,51983,43395,173536,0

From 1d29661977bf919c1bed9270c802af197290043e Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Mon, 28 Jul 2025 16:40:57 +0200
Subject: [PATCH 02/13] Remove not needed files

---
 .../checker/fineCalibrationCheckerConfig.xml  |  22 ------------------
 .../lego_setup_amc_advfoc/general.xml         |   4 ----
 .../setup-eb2-j0_2-mc_service.xml             |   5 ----
 .../lego_setup_amc_advfoc.xml                 |   4 ----
 .../motorControl/setup-rawval-nws_wrapper.xml |  13 -----------
 iCubGenova11/output_frame.png                 | Bin 21941 -> 0 bytes
 iCubGenova11/zeroPositionsDataDelta.csv       |   5 ----
 7 files changed, 53 deletions(-)
 delete mode 100644 experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml
 delete mode 100644 experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
 delete mode 100644 iCubGenova11/output_frame.png
 delete mode 100644 iCubGenova11/zeroPositionsDataDelta.csv

diff --git a/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml b/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml
deleted file mode 100644
index 6cdcaad5c3..0000000000
--- a/experimentalSetups/lego_setup_amc_advfoc/checker/fineCalibrationCheckerConfig.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?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="fineCalibrationChecker" type="fineCalibrationChecker">
-        <param name="devicename">fineCalibrationChecker</param>
-        <param name="robotname">setup</param>
-        <param name="remoteRawValuesPort">/setup_mc/raw_data</param>
-        <param name="axesNamesList">(setup_yaw)</param>
-        <param name="goldPositions">(0)</param>
-        <param name="encoderResolutions">(16384)</param>
-
-
-        <action phase="startup" level="15" type="attach">
-            <paramlist name="networks">
-                <elem name="setup_joint_0">setup-eb2-j0_2-mc</elem>
-            </paramlist>
-        </action>
-
-        <action phase="shutdown" level="2" type="detach" />
-
-    </device>
diff --git a/experimentalSetups/lego_setup_amc_advfoc/general.xml b/experimentalSetups/lego_setup_amc_advfoc/general.xml
index ff23ffcc0f..855a7e7b1e 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/general.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/general.xml
@@ -9,8 +9,4 @@
       <param name="useLimitedPWM">      false  </param>
       <param name="verbose">            false  </param>
   </group>
-
-  <group name="DEBUG">
-    <param name="embBoardsConnected"> 0 </param>
-  </group>
 </params>
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
index 988d372dbb..75aaf619e3 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
@@ -104,13 +104,8 @@
                 </group>
                 <group name="FIRMWARE">
                     <param name="major">            3       2           </param>
-<<<<<<< Updated upstream
                     <param name="minor">            9       2           </param>
                     <param name="build">            0       0           </param>
-=======
-                    <param name="minor">            9       0           </param>
-                    <param name="build">            0       0          </param>
->>>>>>> Stashed changes
                 </group>
             </group>
            
diff --git a/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml b/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
index c40e3c18e5..b607c76fa8 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/lego_setup_amc_advfoc.xml
@@ -12,13 +12,9 @@
             <xi:include href="hardware/motorControl/setup-eb2-j0_2-mc.xml" />
             <xi:include href="wrappers/motorControl/setup-mc_wrapper.xml"  />
             <xi:include href="wrappers/motorControl/setup-mc_remapper.xml" />
-            <xi:include href="wrappers/motorControl/setup-rawval-nws_wrapper.xml" />
     
             <!--  CALIBRATORS -->
             <xi:include href="calibrators/setup-calib.xml" />
-
-            <!-- FINE CALIBRATION CHECKER -->
-            <xi:include href="checker/fineCalibrationCheckerConfig.xml" />
         
     </devices>
 </robot>
\ No newline at end of file
diff --git a/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml b/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
deleted file mode 100644
index f9e8159f42..0000000000
--- a/experimentalSetups/lego_setup_amc_advfoc/wrappers/motorControl/setup-rawval-nws_wrapper.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?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="setup-rawval_nws_yarp" type="rawValuesPublisherServer">
-    <param name="name"> /setup_mc/raw_data </param>
-    <param name="period"> 2 </param>
-    <action phase="startup" level="10" type="attach">
-        <paramlist name="networks">
-            <elem name="device"> setup-eb2-j0_2-mc </elem>
-        </paramlist>
-    </action>
-    <action phase="shutdown" level="15" type="detach" />
-</device>
\ No newline at end of file
diff --git a/iCubGenova11/output_frame.png b/iCubGenova11/output_frame.png
deleted file mode 100644
index aeed2f560801072b95d3e3415a629cb510c201b0..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/iCubGenova11/zeroPositionsDataDelta.csv b/iCubGenova11/zeroPositionsDataDelta.csv
deleted file mode 100644
index 82dece8b41..0000000000
--- a/iCubGenova11/zeroPositionsDataDelta.csv
+++ /dev/null
@@ -1,5 +0,0 @@
-AxisName,GoldPosition,RescaledPosition,RawPosition,Delta
-l_shoulder_pitch,58559,64729,258849,0
-l_shoulder_roll,22639,18830,75303,1
-l_shoulder_yaw,48830,45669,182631,0
-l_elbow,51983,43395,173536,0

From a99cf13f81193506fd7552706649eaeca701878d Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Mon, 28 Jul 2025 17:13:14 +0200
Subject: [PATCH 03/13] Fix typos and filenames

---
 .../checker/fineCalibrationCheckerConfig.xml        |  5 +++--
 iCubGenova11/icub_all_no_legs.xml                   |  4 +++-
 .../motorControl/left_arm-mc-rawval-nws_wrapper.xml | 13 +++++++++++++
 .../right_arm-mc-rawval-nws_wrapper.xml             |  6 +++---
 4 files changed, 22 insertions(+), 6 deletions(-)
 create mode 100644 iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml

diff --git a/iCubGenova11/checker/fineCalibrationCheckerConfig.xml b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
index 9cf236cd42..92f857d999 100644
--- a/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
+++ b/iCubGenova11/checker/fineCalibrationCheckerConfig.xml
@@ -5,10 +5,10 @@
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="fineCalibrationChecker" type="fineCalibrationChecker">
         <param name="devicename">fineCalibrationChecker</param>
         <param name="robotname">iCubGenova11</param>
-        <param name="remoteRawValuesPort">/left_arm/raw_data</param>
+        <param name="remoteRawValuesPort">/left_arm/raw_data</param> <!--right_arm/raw_data if needed other control board-->
         <!-- <param name="axesNamesList">(r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, r_elbow)</param> -->
         <param name="axesNamesList">(l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow)</param>
-        <!-- <param name="goldPositions">(35535, 33135, 24960, 25983)</param> --> <!--right _arm-->
+        <!-- <param name="goldPositions">(35535, 33135, 24960, 25983)</param> --> <!--right_arm-->
         <param name="goldPositions">(58559, 22639, 48830, 51983)</param> <!--left_arm-->
         <!--<param name="calibrationDeltas">(1.0, -9.2, -14.2, 0 )</param> --> <!--right_arm-->
         <param name="calibrationDeltas">(0, -9.2, -17.1, -2.7 )</param> <!--left_arm-->
@@ -18,6 +18,7 @@
         <action phase="startup" level="15" type="attach">
             <paramlist name="networks">
                 <elem name="setup_joint_0">left_arm-eb1-j0_3-mc</elem>
+                <!-- <elem name="setup_joint_0">right_arm-eb3-j0_3-mc</elem> --> <!--right_arm -->
             </paramlist>
         </action>
 
diff --git a/iCubGenova11/icub_all_no_legs.xml b/iCubGenova11/icub_all_no_legs.xml
index 448c290061..cf8801a774 100644
--- a/iCubGenova11/icub_all_no_legs.xml
+++ b/iCubGenova11/icub_all_no_legs.xml
@@ -95,7 +95,9 @@
     <xi:include href="calibrators/head-calib.xml" />
     <xi:include href="calibrators/face-calib.xml" />
 
-    <xi:include href="wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml" />
+    <!-- FINE CALIBRATOR CHECKER DEMO and TEST -->
+    <xi:include href="wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml" />
+    <!-- <xi:include href="wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml" /> -->
     <xi:include href="checker/fineCalibrationCheckerConfig.xml" />
     </devices>
 </robot>
diff --git a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
new file mode 100644
index 0000000000..5364991ccb
--- /dev/null
+++ b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
@@ -0,0 +1,13 @@
+<?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-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /left_arm/raw_data </param>
+    <param name="period"> 2 </param>
+    <action phase="startup" level="10" type="attach">
+        <paramlist name="networks">
+            <elem name="device"> left_arm-eb1-j0_3-mc </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>
\ No newline at end of file
diff --git a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
index 5364991ccb..17fd97d488 100644
--- a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
+++ b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
@@ -1,12 +1,12 @@
 <?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-rawval_nws_yarp" type="rawValuesPublisherServer">
-    <param name="name"> /left_arm/raw_data </param>
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-rawval_nws_yarp" type="rawValuesPublisherServer">
+    <param name="name"> /right_arm/raw_data </param>
     <param name="period"> 2 </param>
     <action phase="startup" level="10" type="attach">
         <paramlist name="networks">
-            <elem name="device"> left_arm-eb1-j0_3-mc </elem>
+            <elem name="device"> right_arm-eb3-j0_3-mc </elem>
         </paramlist>
     </action>
     <action phase="shutdown" level="15" type="detach" />

From 1b04a56ddfc9e5fc7d0c5c1aa662c60f83df2c92 Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Mon, 28 Jul 2025 17:24:01 +0200
Subject: [PATCH 04/13] Update CMakeLists.txt

Fixed missing installation.
cc @MSECode
---
 iCubGenova11/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/iCubGenova11/CMakeLists.txt b/iCubGenova11/CMakeLists.txt
index dfec567898..45feb56b49 100644
--- a/iCubGenova11/CMakeLists.txt
+++ b/iCubGenova11/CMakeLists.txt
@@ -10,4 +10,5 @@ yarp_install(DIRECTORY cartesian DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/$
 yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
 yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
 yarp_install(DIRECTORY camera DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
-yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 
+yarp_install(DIRECTORY estimators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY checker DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname}) 

From 61f731f98b0e3573d5335e8f8fbcfcd6d275d906 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Tue, 29 Jul 2025 11:15:50 +0200
Subject: [PATCH 05/13] Update schema, change paramlist to param for raw values
 wrapper, disable arm joint 15 left and right

---
 .../wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml | 4 +---
 tests/dry-run/check-xml/schemas/wrapper.xsd                   | 1 +
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
index 17fd97d488..e88d5de604 100644
--- a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
+++ b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
@@ -5,9 +5,7 @@
     <param name="name"> /right_arm/raw_data </param>
     <param name="period"> 2 </param>
     <action phase="startup" level="10" type="attach">
-        <paramlist name="networks">
-            <elem name="device"> right_arm-eb3-j0_3-mc </elem>
-        </paramlist>
+        <param name="device"> right_arm-eb3-j0_3-mc </elem>
     </action>
     <action phase="shutdown" level="15" type="detach" />
 </device>
\ No newline at end of file
diff --git a/tests/dry-run/check-xml/schemas/wrapper.xsd b/tests/dry-run/check-xml/schemas/wrapper.xsd
index 70068f93e5..45e9271163 100644
--- a/tests/dry-run/check-xml/schemas/wrapper.xsd
+++ b/tests/dry-run/check-xml/schemas/wrapper.xsd
@@ -75,6 +75,7 @@
     <xs:enumeration value="controlBoard_nws_yarp" />
     <xs:enumeration value="controlBoard_nws_ros" />
     <xs:enumeration value="controlBoard_nws_ros2" />
+    <xs:enumeration value="rawValuesPublisherServer"/>
   </xs:restriction>
 </xs:simpleType>
 

From 95451a73f55b67969ac4fb9f5d2ab505c294bbea Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Tue, 29 Jul 2025 12:47:31 +0200
Subject: [PATCH 06/13] Update nws wrapper using param instead of paramlist

---
 .../wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml  | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
index 5364991ccb..19176ac24b 100644
--- a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
+++ b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
@@ -5,9 +5,7 @@
     <param name="name"> /left_arm/raw_data </param>
     <param name="period"> 2 </param>
     <action phase="startup" level="10" type="attach">
-        <paramlist name="networks">
-            <elem name="device"> left_arm-eb1-j0_3-mc </elem>
-        </paramlist>
+        <param name="device"> left_arm-eb1-j0_3-mc </elem>
     </action>
     <action phase="shutdown" level="15" type="detach" />
 </device>
\ No newline at end of file

From a8a4e6bb00af98177725decf0b81486703738284 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Tue, 29 Jul 2025 12:56:33 +0200
Subject: [PATCH 07/13] Fix tag mismatch

---
 .../wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml    | 2 +-
 .../wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
index 19176ac24b..28b19a62b1 100644
--- a/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
+++ b/iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
@@ -5,7 +5,7 @@
     <param name="name"> /left_arm/raw_data </param>
     <param name="period"> 2 </param>
     <action phase="startup" level="10" type="attach">
-        <param name="device"> left_arm-eb1-j0_3-mc </elem>
+        <param name="device"> left_arm-eb1-j0_3-mc </param>
     </action>
     <action phase="shutdown" level="15" type="detach" />
 </device>
\ No newline at end of file
diff --git a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
index e88d5de604..6912c0ad75 100644
--- a/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
+++ b/iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
@@ -5,7 +5,7 @@
     <param name="name"> /right_arm/raw_data </param>
     <param name="period"> 2 </param>
     <action phase="startup" level="10" type="attach">
-        <param name="device"> right_arm-eb3-j0_3-mc </elem>
+        <param name="device"> right_arm-eb3-j0_3-mc </param>
     </action>
     <action phase="shutdown" level="15" type="detach" />
 </device>
\ No newline at end of file

From 627e9222ef8c21a4288de5b7b5a0c8d4ebe70ab4 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <jacopo.losi@iit.it>
Date: Wed, 30 Jul 2025 19:05:39 +0200
Subject: [PATCH 08/13] Check Ci with re-generated docker


From c44aace64f688c7d95531a5a21fc8a96ea42cc03 Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Thu, 31 Jul 2025 18:20:22 +0200
Subject: [PATCH 09/13] trigger build


From 499e7cfff9b670594f9945a73d0d17251e49bc3b Mon Sep 17 00:00:00 2001
From: Jacopo Losi <77933235+MSECode@users.noreply.github.com>
Date: Tue, 26 Aug 2025 14:15:26 +0000
Subject: [PATCH 10/13] Add check for wrappers that do not have remappers

---
 tests/dry-run/check-xml/src/check-xml.cpp | 63 +++++++++++++++++++++--
 1 file changed, 60 insertions(+), 3 deletions(-)

diff --git a/tests/dry-run/check-xml/src/check-xml.cpp b/tests/dry-run/check-xml/src/check-xml.cpp
index 86577d7db5..1ec5d114a1 100644
--- a/tests/dry-run/check-xml/src/check-xml.cpp
+++ b/tests/dry-run/check-xml/src/check-xml.cpp
@@ -110,7 +110,51 @@ bool loadXmlFile(const std::string& robot_dir, const std::string& filename, pugi
     }
 }
 
-bool checkWrappersRemappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles,
+/**
+check wrappers that are independent from calibrators and remappers
+1- find devices that are inside hardware/motorControl whose file ends with -mc.xml
+2- for each file found, look for the device name and save in a list
+3- compare this list of targets with the devices inside *-rawval-nws_wrapper.xml
+ */
+bool checkMotorControlWrappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles, std::vector<std::string>& vectorUnremapped, bool& pass){
+    std::vector<std::string> list_of_targets;
+    pugi::xml_document doc_mc;
+    std::string device, target;
+
+    for (auto ele : vectorAllFiles)
+    {
+        if(ele.find("hardware/motorControl") != std::string::npos && ele.find("-mc.xml") != std::string::npos) {
+            if(!loadXmlFile(robot_dir, ele, doc_mc)) return false;
+            pugi::xpath_node device_name = doc_mc.select_node("device");
+            device = trim(device_name.node().attribute("name").value());
+            std::cout << "Adding device: " << device << " to the list of targets to be checked" << std::endl;
+            list_of_targets.push_back(device);
+            doc_mc.reset();
+        }
+    }
+
+    for (auto ele : vectorAllFiles)
+    {
+        if(ele.find("wrappers/motorControl") != std::string::npos && ele.find("rawval-nws_wrapper.xml") != std::string::npos) {
+            if(!loadXmlFile(robot_dir, ele, doc_mc)) return false;
+            pugi::xpath_node action_startup = doc_mc.select_node("//action[@phase='startup']/param[@name='device']/text()");
+            target = trim(action_startup.node().value());
+            if(std::find(list_of_targets.begin(), list_of_targets.end(), target) != list_of_targets.end()){
+                vectorUnremapped.push_back(ele);
+                std::cout << target << " - MOTOR CONTROL WRAPPER CHECK PASSED!" << std::endl;
+            }
+            else{
+                std::cerr << target << " - MOTOR CONTROL WRAPPER CHECK FAILED!" << std::endl;
+                pass = false;
+            }
+            doc_mc.reset();
+        }
+    }
+
+    return true;
+}
+
+bool checkWrappersRemappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles, std::vector<std::string>& vectorUnremapped,
                             const std::string& part, const std::string& target, bool& pass){
     bool found = false;
     pugi::xml_document doc_wrapper, doc_remapper;
@@ -133,6 +177,12 @@ bool checkWrappersRemappers(const std::string& robot_dir, std::vector<std::strin
         if(ele.find("wrappers/motorControl") != std::string::npos){
             if(ele.find("wrapper.xml") != std::string::npos) {
                 if(!loadXmlFile(robot_dir, ele, doc_wrapper)) return false;
+                if (std::find(vectorUnremapped.begin(), vectorUnremapped.end(), ele) != vectorUnremapped.end())
+                {
+                    std::cout << part << " - SKIPPED SINCE UNREMAPPED!" << std::endl;
+                    found = true;
+                    continue;
+                }
                 pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
                 device = trim(action_startup.node().value());
                 if(device == target) std::cout << part <<" - WRAPPER CHECK PASSED!" << std::endl;
@@ -183,6 +233,13 @@ bool checkCartesian(const std::string& robot_dir, std::vector<std::string>& vect
 }
 
 bool checkCalibratorsWrappersRemappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles, bool& pass){
+     // save first list of unremapped devices to skip the check for wrappers/remappers
+    // we cannot check the single element inside the for loop by passing ele to method
+    // since we first need to fill the list of targets by looking in hardware/motorControl directory
+    // while the unramapped devices are inside wrappers/motorControl directory 
+    std::vector<std::string> vectorUnremapped;
+    checkMotorControlWrappers(robot_dir, vectorAllFiles, vectorUnremapped, pass);
+
     for (auto ele : vectorAllFiles)
     {
         std::string part, target1, target2;
@@ -209,7 +266,7 @@ bool checkCalibratorsWrappersRemappers(const std::string& robot_dir, std::vector
                     pass = false;
                 }
 
-                checkWrappersRemappers(robot_dir, vectorAllFiles, part, target1, pass);
+                checkWrappersRemappers(robot_dir, vectorAllFiles, vectorUnremapped, part, target1, pass);
                 if(ele.find("arm") != std::string::npos){
                     checkCartesian(robot_dir, vectorAllFiles, part, target1, pass);
                 }
@@ -248,7 +305,7 @@ int main(int argc, char *argv[]) {
     std::cout << std::endl << "2 - test included xml files presence **************" << std::endl << std::endl;
 
     if(!checkIncludedFiles(robot_dir, vectorAllFiles, filename, doc)) return EXIT_FAILURE;
-   
+
     // checks calibrators/wrappers/remappers/cartesian xml files consistency
     std::cout << std::endl << "3 - test calibrators/wrappers/remappers/cartesian xml files consistency **************" << std::endl << std::endl;
 

From e576cd3c0f30d9f8ad228675ea4c28819e1b47e6 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <77933235+MSECode@users.noreply.github.com>
Date: Wed, 27 Aug 2025 09:50:33 +0200
Subject: [PATCH 11/13] Update tests/dry-run/check-xml/src/check-xml.cpp

Co-authored-by: Ugo Pattacini <ugo.pattacini@iit.it>
---
 tests/dry-run/check-xml/src/check-xml.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/dry-run/check-xml/src/check-xml.cpp b/tests/dry-run/check-xml/src/check-xml.cpp
index 1ec5d114a1..b5d4f3022f 100644
--- a/tests/dry-run/check-xml/src/check-xml.cpp
+++ b/tests/dry-run/check-xml/src/check-xml.cpp
@@ -233,7 +233,7 @@ bool checkCartesian(const std::string& robot_dir, std::vector<std::string>& vect
 }
 
 bool checkCalibratorsWrappersRemappers(const std::string& robot_dir, std::vector<std::string>& vectorAllFiles, bool& pass){
-     // save first list of unremapped devices to skip the check for wrappers/remappers
+    // save first list of unremapped devices to skip the check for wrappers/remappers
     // we cannot check the single element inside the for loop by passing ele to method
     // since we first need to fill the list of targets by looking in hardware/motorControl directory
     // while the unramapped devices are inside wrappers/motorControl directory 

From 704f71fb02d408e769f3f7cf109729a0626d45b7 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <77933235+MSECode@users.noreply.github.com>
Date: Wed, 27 Aug 2025 07:55:20 +0000
Subject: [PATCH 12/13] Add device name to debug message of skipped devices

---
 tests/dry-run/check-xml/src/check-xml.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tests/dry-run/check-xml/src/check-xml.cpp b/tests/dry-run/check-xml/src/check-xml.cpp
index b5d4f3022f..507feb9d72 100644
--- a/tests/dry-run/check-xml/src/check-xml.cpp
+++ b/tests/dry-run/check-xml/src/check-xml.cpp
@@ -177,14 +177,14 @@ bool checkWrappersRemappers(const std::string& robot_dir, std::vector<std::strin
         if(ele.find("wrappers/motorControl") != std::string::npos){
             if(ele.find("wrapper.xml") != std::string::npos) {
                 if(!loadXmlFile(robot_dir, ele, doc_wrapper)) return false;
+                pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
+                device = trim(action_startup.node().value());
                 if (std::find(vectorUnremapped.begin(), vectorUnremapped.end(), ele) != vectorUnremapped.end())
                 {
-                    std::cout << part << " - SKIPPED SINCE UNREMAPPED!" << std::endl;
+                    std::cout << part << " - SKIPPED DEVICE " << device << " SINCE UNREMAPPED!" << std::endl;
                     found = true;
                     continue;
                 }
-                pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
-                device = trim(action_startup.node().value());
                 if(device == target) std::cout << part <<" - WRAPPER CHECK PASSED!" << std::endl;
                 else {
                     std::cerr << part << " - WRAPPER CHECK FAILED!" << std::endl;

From 55e3883ccf3d00b041f92538072bf448337e3353 Mon Sep 17 00:00:00 2001
From: Jacopo Losi <77933235+MSECode@users.noreply.github.com>
Date: Wed, 27 Aug 2025 10:06:26 +0000
Subject: [PATCH 13/13] Fix device name in debug message

---
 tests/dry-run/check-xml/src/check-xml.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tests/dry-run/check-xml/src/check-xml.cpp b/tests/dry-run/check-xml/src/check-xml.cpp
index 507feb9d72..4cef3817a6 100644
--- a/tests/dry-run/check-xml/src/check-xml.cpp
+++ b/tests/dry-run/check-xml/src/check-xml.cpp
@@ -177,14 +177,16 @@ bool checkWrappersRemappers(const std::string& robot_dir, std::vector<std::strin
         if(ele.find("wrappers/motorControl") != std::string::npos){
             if(ele.find("wrapper.xml") != std::string::npos) {
                 if(!loadXmlFile(robot_dir, ele, doc_wrapper)) return false;
-                pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
-                device = trim(action_startup.node().value());
+                pugi::xpath_node device_name = doc_wrapper.select_node("device");
+                device = trim(device_name.node().attribute("name").value());
                 if (std::find(vectorUnremapped.begin(), vectorUnremapped.end(), ele) != vectorUnremapped.end())
                 {
                     std::cout << part << " - SKIPPED DEVICE " << device << " SINCE UNREMAPPED!" << std::endl;
                     found = true;
                     continue;
                 }
+                pugi::xpath_node action_startup = doc_wrapper.select_node("//action[@phase='startup']/param[@name='device']/text()");
+                device = trim(action_startup.node().value());
                 if(device == target) std::cout << part <<" - WRAPPER CHECK PASSED!" << std::endl;
                 else {
                     std::cerr << part << " - WRAPPER CHECK FAILED!" << std::endl;