Naming convention
To help maintenance of configuration files, it is necessary to include the following information in the names of each single file:
- robot body parts;
- type of device or type of information contained in the file, like mechanicals or electronic or motor control data;
- the electronics board number: in case of configuration file of device, it is useful to know which is the electronic board to refer to.
- number of joints connected to the board.
1. Rules for naming devices
This is the pattern of name of each device and its configuration file: body_part-ebX-jA_B-type_of_device
. In details, each name is make up of 4 parts:
- body_part:
head
,face
,left_arm
,right_arm
,torso
,left_leg
,right_leg
; - ebX: where X is the number of electronic board written on schematics document. Usually, but not always, X is also the last number of board’s ip address;
- jA_B: this indicates that the board ebX controls joints from A to B. This information let you know if board is in upper or lower part.
- type_of_device:
skin
,mais
,strain
,mc
,intertials
.
For example, the configuration file of motor control device of joint 0 and 1 of head is named head-eb20-j0_1-mc.xml
and inside it there is the name of device head-eb20-j0_1-mc
:
<devices robot="robotName" build="1">
<device name="head-eb20-j0_1-mc" type="embObjMotionControl">
<params ....... />
………………………………….
…………………………….
</device>
</devices>
2.Rules for naming wrapper file
The wrapper name and its configuration files should have the same name and its pattern is : body_part-type_of_device_wrapper.xml. In details, each file name is make up of 2 parts:
- body_part:
head
,face
,left_arm
,right_arm
,torso
,left_leg
,right_leg
,left_foot
,right_foot
; - type_of_device_wrapper:
skin_wrapper
,mais_wrapper
,FT_wrapper
,VFT_wrapper
,mc_wrapper
.
3.Rules for naming joints
Each joint has a name that follows the naming convention explained here.