Feature/test pos refactor

[MSECode]

This PR adds the configuration files for the POS wrappers and remappers for ergoCub001, where we have done the tests for the POS refactoring and we also add the general remappers in the template.

Related icub-main PR with the refactored code: robotology/icub-main#1044

[gemini-code-assist]

Summary of Changes

Hello @MSECode, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request focuses on a significant refactoring of the Position (POS) sensor configurations for the ergoCub001 robot, specifically for its hands. The changes introduce a more modular and standardized approach to sensor data handling by implementing new remapper and wrapper XML files. This not only improves the clarity and consistency of sensor identification within the ergoCub001 setup but also provides reusable templates for broader application across the iCub robot family, enhancing the overall maintainability and scalability of the sensor architecture.

Highlights

• POS Configuration Refactoring for ergoCub001: Introduced new dedicated XML configuration files for Position (POS) sensor wrappers and remappers for both left and right hands of the ergoCub001 robot, covering both 'pos2' and 'pos4' configurations.
• Standardized Sensor Naming: Updated sensor IDs and added explicit 'sensorName' parameters within the ergoCub001 hand POS hardware configurations, adopting a more consistent naming convention (e.g., 'l_id_fapEE' instead of 'id_fapEE').
• Migration to Multiple Analog Sensors: Modified existing hand POS wrappers from 'analogServer' to 'multipleanalogsensorsserver' type and adjusted their startup/shutdown levels, indicating a shift towards a more robust and explicit handling of multiple analog sensor data streams.
• General Remapper and Wrapper Templates: Added general template files for POS remappers and wrappers under iCubTemplates/iCubTemplateV6_0, providing a standardized structure for future sensor configurations across iCub robots.

Using Gemini Code Assist

The full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips.

Invoking Gemini

You can request assistance from Gemini at any point by creating a comment using either /gemini <command> or @gemini-code-assist <command>. Below is a summary of the supported commands on the current page.

Feature	Command	Description
Code Review	/gemini review	Performs a code review for the current pull request in its current state.
Pull Request Summary	/gemini summary	Provides a summary of the current pull request in its current state.
Comment	@gemini-code-assist	Responds in comments when explicitly tagged, both in pull request comments and review comments.
Help	/gemini help	Displays a list of available commands.

Customization

To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a .gemini/ folder in the base of the repository. Detailed instructions can be found here.

Limitations & Feedback

Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here.

You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension.

Footnotes

1. Review the Privacy Notices, Generative AI Prohibited Use Policy, Terms of Service, and learn how to configure Gemini Code Assist in GitHub here. Gemini can make mistakes, so double check it and use code with caution. ↩

[pattacini]

Rebuilding the docker.

[pattacini]

Hi @MSECode

Strange enough, we have the following tests failing now:

• dry-run_R1SN003_dev
• dry-run_ergoCubSN003_dev

Any possible interaction w/ robotology/icub-main#1044, even though these proposed changes are concerned with ergoCubSN001?

[MSECode]

I've checked ergoCub003 and we need to either comment the pos wrappers from ergocub.xml or update the device type to 'multipleanalogsensorsserver`.

For R1SN003, it might be the same. I'll check that and I'll update the code.

[pattacini]

Let's update the wrapper @MSECode 👍🏻

[MSECode]

/gemini review

[gemini-code-assist]

Code Review

This pull request refactors the POS sensor configuration for ergoCub001 by introducing wrappers and remapper files, and also adds new templates. The changes are generally good and follow the goal of the refactoring. My review includes suggestions to improve consistency in file includes, fix formatting issues (indentation, spacing, missing newlines) in several new XML files, and points out a potential device name conflict and incorrect parameter usage in one of the new remapper files. I've also noted some naming inconsistencies in files related to ergoCubSN003.

[pattacini]

Thanks @MSECode! Merging...

Better off posting an announcement on our internal Teams channel for the users of R1SN003 about the need to update icub-main in case they update their conf files.

[MSECode]

Thanks @MSECode! Merging...

Better off posting an announcement on our internal Teams channel for the users of R1SN003 about the need to update icub-main in case they update their conf files.

Sure, good idea