The ICD that has been established so far is device agnostic; it should work as an open-loop controller with any arm that has successfully implemented the operator. For very specific features, or for closed loop control (e.g. receiving the device specific positional information for a commander-side digital twin), there needs to be a way to embed device specific data, without making the ICD device specific.
I believe the best way of accomplishing this is to make a ICD command which acts as a catch-all wrapper for device specific commands/payloads. After using the generic ICD to unwrap messages, if it is detected that the command fall under a device specific command, it is passed to that device specific unwrapper, where it is eventually processed.
The ICD that has been established so far is device agnostic; it should work as an open-loop controller with any arm that has successfully implemented the operator. For very specific features, or for closed loop control (e.g. receiving the device specific positional information for a commander-side digital twin), there needs to be a way to embed device specific data, without making the ICD device specific.
I believe the best way of accomplishing this is to make a ICD command which acts as a catch-all wrapper for device specific commands/payloads. After using the generic ICD to unwrap messages, if it is detected that the command fall under a device specific command, it is passed to that device specific unwrapper, where it is eventually processed.