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ergocub.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="ergocubGazebo" build="1" portprefix="/ergocubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
<devices>
<!-- MOTOR CONTROLLERS -->
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/left_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/right_leg-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-mc_remapper.xml" />
<!-- ANALOG SENSORS FT -->
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
<!-- INERTIAL SENSOR-->
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/left_foot-IMU_remapper.xml" />
<xi:include href="wrappers/inertials/left_foot-IMU_wrapper.xml" />
<xi:include href="wrappers/inertials/right_foot-IMU_remapper.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" />
<!-- HEAD SENSORS -->
<xi:include href="sensors/rgbd_camera_wrapper.xml" />
<xi:include href="sensors/lidar_wrapper.xml" />
</devices>
</robot>