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Cleanup yarprobotinterface conf files for ergoCub (#645)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
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| <robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
|
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| <params> | ||
| <xi:include href="hardware/electronics/pc104.xml" /> | ||
| </params> | ||
|
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||
| <devices> | ||
|
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||
| <!-- POS4 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos4.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos4.xml" /> | ||
|
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||
| <!-- POS2 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos2.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos2.xml" /> | ||
|
|
||
| <!-- motor controllers wrappers --> | ||
| <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> | ||
|
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||
| <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> | ||
|
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||
| <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" /> | ||
|
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| <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> | ||
|
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||
| <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" /> | ||
|
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||
| <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/head-mc_remapper.xml" /> | ||
|
|
||
| <!-- HEAD --> | ||
| <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" /> | ||
|
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||
| <!-- TORSO --> | ||
| <xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" /> | ||
|
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||
| <!-- LEFT ARM --> | ||
| <xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" /> | ||
|
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||
| <!-- RIGHT ARM --> | ||
| <xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" /> | ||
|
|
||
| <!-- LEFT LEG --> | ||
| <xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_leg-eb9-j4_5-mc.xml" /> | ||
|
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||
| <!-- RIGHT LEG --> | ||
| <xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" /> | ||
|
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||
| <!-- FT SENSORS --> | ||
| <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" /> | ||
|
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||
| <!-- FT SENSORS - REMAPPERS --> | ||
| <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" /> | ||
|
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||
| <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" /> | ||
|
|
||
| <!-- INERTIAL SENSOR --> | ||
| <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/head-imuFilter.xml" /> | ||
| <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" /> | ||
| <xi:include href="hardware/inertials/head-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/waist-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> | ||
|
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||
| <!-- IMU - MTB4 BOARDS | ||
| <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" /> | ||
| <xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> --> | ||
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| <!-- FT SENSORS - IMU --> | ||
| <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" /> | ||
|
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| <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" /> | ||
|
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||
| <!-- BATTERY BAT --> | ||
| <!-- <xi:include href="wrappers/battery/battery_bat.xml" /> --> | ||
| <!-- <xi:include href="hardware/battery/battery_bat.xml" /> --> | ||
|
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| <!-- BATTERY BMS --> | ||
| <xi:include href="wrappers/battery/battery_bms.xml" /> | ||
| <xi:include href="hardware/battery/battery_bms.xml" /> | ||
|
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||
| <!-- CALIBRATORS --> | ||
| <xi:include href="calibrators/torso-calib.xml" /> | ||
| <xi:include href="calibrators/left_leg-calib.xml" /> | ||
| <xi:include href="calibrators/right_leg-calib.xml" /> | ||
| <xi:include href="calibrators/left_arm-calib.xml" /> | ||
| <xi:include href="calibrators/right_arm-calib.xml" /> | ||
| <xi:include href="calibrators/head-calib.xml" /> | ||
|
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||
| <!-- ROS2 Wrappers --> | ||
| <!--m<xi:include href="wrappers/inertials/imu_ros2.xml" /> --> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
|
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| <!-- ESTIMATORS --> | ||
| <xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics" /> | ||
|
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||
| </devices> | ||
| </robot> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,2 @@ | ||
| config ./ergocub_all.xml | ||
| config ./ergocub.xml | ||
|
|
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
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| <robot name="ergoCubSN001" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
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| <params> | ||
| <xi:include href="hardware/electronics/pc104.xml" /> | ||
| </params> | ||
|
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| <devices> | ||
|
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| <!-- POS4 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos4.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper4.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos4.xml" /> | ||
|
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| <!-- POS2 --> | ||
| <xi:include href="wrappers/POS/right_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/right_hand-pos2.xml" /> | ||
| <xi:include href="wrappers/POS/left_hand-pos_wrapper2.xml" /> | ||
| <xi:include href="hardware/POS/left_hand-pos2.xml" /> | ||
|
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| <!-- motor controllers wrappers --> | ||
| <xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" /> | ||
|
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| <xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" /> | ||
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| <xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/torso-mc_remapper.xml" /> | ||
|
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| <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" /> | ||
| <xi:include href="wrappers/motorControl/head-mc_remapper.xml" /> | ||
|
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| <!-- HEAD --> | ||
| <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/head-eb21-j2_3-mc.xml" /> | ||
|
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| <!-- TORSO --> | ||
| <xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" /> | ||
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| <!-- LEFT ARM --> | ||
| <xi:include href="hardware/motorControl/left_arm-eb2-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb4-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb31-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb23-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_arm-eb25-j11_12-mc.xml" /> | ||
|
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| <!-- RIGHT ARM --> | ||
| <xi:include href="hardware/motorControl/right_arm-eb1-j0_1-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb3-j2_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb30-j4_6-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb22-j7_10-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_arm-eb24-j11_12-mc.xml" /> | ||
|
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||
| <!-- LEFT LEG --> | ||
| <xi:include href="hardware/motorControl/left_leg-eb8-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/left_leg-eb9-j4_5-mc.xml" /> | ||
|
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||
| <!-- RIGHT LEG --> | ||
| <xi:include href="hardware/motorControl/right_leg-eb6-j0_3-mc.xml" /> | ||
| <xi:include href="hardware/motorControl/right_leg-eb7-j4_5-mc.xml" /> | ||
|
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||
| <!-- FT SENSORS --> | ||
| <xi:include href="hardware/FT/left_arm-eb2-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_arm-eb1-j0_1-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" /> | ||
| <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" /> | ||
| <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" /> | ||
|
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||
| <!-- FT SENSORS - REMAPPERS --> | ||
| <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" /> | ||
|
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||
| <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" /> | ||
| <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" /> | ||
|
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||
| <!-- INERTIAL SENSOR --> | ||
| <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/head-imuFilter.xml" /> | ||
| <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" /> | ||
| <xi:include href="hardware/inertials/head-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/waist-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> | ||
|
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||
| <!-- IMU - MTB4 BOARDS | ||
| <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" /> | ||
| <xi:include href="hardware/inertials/right_arm-eb3-j2_3-inertial.xml" /> | ||
| <xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" /> --> | ||
|
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||
| <!-- FT SENSORS - IMU --> | ||
| <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" /> | ||
| <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" /> | ||
|
|
||
| <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS --> | ||
| <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" /> | ||
| <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" /> | ||
|
|
||
| <!-- BATTERY BAT --> | ||
| <xi:include href="wrappers/battery/battery_bat.xml" /> | ||
| <xi:include href="hardware/battery/battery_bat.xml" /> | ||
|
|
||
| <!-- BATTERY BMS --> | ||
| <xi:include href="wrappers/battery/battery_bms.xml" /> | ||
| <xi:include href="hardware/battery/battery_bms.xml" /> | ||
|
|
||
| <!-- CALIBRATORS --> | ||
| <xi:include href="calibrators/torso-calib.xml" /> | ||
| <xi:include href="calibrators/left_leg-calib.xml" /> | ||
| <xi:include href="calibrators/right_leg-calib.xml" /> | ||
| <xi:include href="calibrators/left_arm-calib.xml" /> | ||
| <xi:include href="calibrators/right_arm-calib.xml" /> | ||
| <xi:include href="calibrators/head-calib.xml" /> | ||
|
|
||
| <!-- ROS2 Wrappers --> | ||
| <!--m<xi:include href="wrappers/inertials/imu_ros2.xml" /> --> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
| <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2" /> | ||
|
|
||
| <!-- ESTIMATORS --> | ||
| <xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics" /> | ||
|
|
||
| </devices> | ||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,2 @@ | ||
| config ./ergocub_all.xml | ||
| config ./ergocub.xml | ||
|
|
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