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iCubGenova11 add files for fineCalibrationChecker #748

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e0650c8
Conf files for fineCalibrator demo
MSECode Jul 22, 2025
d0115b4
Remove not needed files
MSECode Jul 28, 2025
b83aae5
Fix typos and filenames
MSECode Jul 28, 2025
55e5043
Update CMakeLists.txt
pattacini Jul 28, 2025
377af47
Re-enable 15th arm joint (left and right)
MSECode Jul 28, 2025
53a625c
Update schema, change paramlist to param for raw values wrapper, disa…
MSECode Jul 29, 2025
4251455
Update nws wrapper using param instead of paramlist
MSECode Jul 29, 2025
6316828
Fix tag mismatch
MSECode Jul 29, 2025
c66c296
Check Ci with re-generated docker
MSECode Jul 30, 2025
f4a722c
trigger build
pattacini Jul 31, 2025
4867795
Add check for wrappers that do not have remappers
MSECode Aug 26, 2025
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3 changes: 2 additions & 1 deletion iCubGenova11/CMakeLists.txt
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Expand Up @@ -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})
2 changes: 1 addition & 1 deletion iCubGenova11/calibrators/left_arm-calib.xml
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Expand Up @@ -31,7 +31,7 @@
<param name="startupPosThreshold"> 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90 </param>
</group>

<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param>
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14)</param>
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@MSECode, was this change intended?

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First commit I did was from the robot. Thus it might be due to changes left there that I took when checking out. I know that lately there were some problems with the finger. Thus I'm not sure if it was due to that to remove the last joint. Anyway I can remove that change from this PR and we can double check that directly on the robot.

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Anyway I can remove that change from this PR and we can double check that directly on the robot.

Yep, thanks! I'd go with this solution.

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I can confirm, they are disabled due to:

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@pattacini pattacini Jul 29, 2025 •
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The fact that they're disabled locally to the robot doesn't imply that they should be upstream in the repo. Something to consider with care, I'd say.

I would still keep 15 upstream.
iCubGenova11 follows a different workflow/pace wrt ergCubs.

<!-- <param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param> -->
<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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3 changes: 1 addition & 2 deletions iCubGenova11/calibrators/right_arm-calib.xml
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Expand Up @@ -33,7 +33,7 @@
</group>


<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6) (8 9 11 13) (10 12 14 15)</param>
<param name="CALIB_ORDER">(0 1 2 3) (4) (5 6) (8 9 11 13) (10 12 14)</param>
<!-- <param name="CALIB_ORDER">(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)</param> -->

<action phase="startup" level="10" type="calibrate">
Expand All @@ -47,4 +47,3 @@
<action phase="interrupt3" level="1" type="abort" />

</device>

27 changes: 27 additions & 0 deletions iCubGenova11/checker/fineCalibrationCheckerConfig.xml
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@@ -0,0 +1,27 @@
<?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> <!--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">(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>
<!-- <elem name="setup_joint_0">right_arm-eb3-j0_3-mc</elem> --> <!--right_arm -->
</paramlist>
</action>

<action phase="shutdown" level="2" type="detach" />

</device>
4 changes: 4 additions & 0 deletions iCubGenova11/icub_all_no_legs.xml
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Expand Up @@ -95,5 +95,9 @@
<xi:include href="calibrators/head-calib.xml" />
<xi:include href="calibrators/face-calib.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>
11 changes: 11 additions & 0 deletions iCubGenova11/wrappers/motorControl/left_arm-mc-rawval-nws_wrapper.xml
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@@ -0,0 +1,11 @@
<?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">
<param name="device"> left_arm-eb1-j0_3-mc </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
11 changes: 11 additions & 0 deletions iCubGenova11/wrappers/motorControl/right_arm-mc-rawval-nws_wrapper.xml
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@@ -0,0 +1,11 @@
<?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-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">
<param name="device"> right_arm-eb3-j0_3-mc </param>
</action>
<action phase="shutdown" level="15" type="detach" />
</device>
1 change: 1 addition & 0 deletions tests/dry-run/check-xml/schemas/wrapper.xsd
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Expand Up @@ -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>

Expand Down
63 changes: 60 additions & 3 deletions tests/dry-run/check-xml/src/check-xml.cpp
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Expand Up @@ -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;
Expand All @@ -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;
Expand Down Expand Up @@ -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;
Expand All @@ -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);
}
Expand Down Expand Up @@ -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;

Expand Down