Fix SensorsNames

icub-tech-iit · Jun 5, 2023 · 148576c · 148576c
1 parent cedcb1f
commit 148576c
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Showing 3 changed files with 4 additions and 9 deletions.
diff --git a/urdf/simmechanics/data/ergocub/conf/estimators/wbd_ecub_sim.xml b/urdf/simmechanics/data/ergocub/conf/estimators/wbd_ecub_sim.xml
@@ -40,7 +40,7 @@
 
 
          <group name="multipleAnalogSensorsNames">
-            <param name="SixAxisForceTorqueSensorsNames">("left_arm_ft_sensor", "right_arm_ft_sensor", "left_leg_ft_sensor", "right_leg_ft_sensor", "left_foot_front_ft_sensor", "right_foot_front_ft_sensor", "left_foot_rear_ft_sensor", "right_foot_rear_ft_sensor")</param>
+            <param name="SixAxisForceTorqueSensorsNames">("l_arm_ft_sensor", "r_arm_ft_sensor", "l_leg_ft_sensor", "r_leg_ft_sensor", "l_foot_front_ft_sensor", "r_foot_front_ft_sensor", "l_foot_rear_ft_sensor", "r_foot_rear_ft_sensor")</param>
             <!-- <param name="TemperatureSensorsNames">("l_arm_ft_sensor", "r_arm_ft_sensor", "l_leg_ft_sensor", "r_leg_ft_sensor")</param> -->
         </group>
 

diff --git a/urdf/simmechanics/data/ergocub/conf/wrappers/FT/left_leg-FT_remapper.xml b/urdf/simmechanics/data/ergocub/conf/wrappers/FT/left_leg-FT_remapper.xml
@@ -4,10 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (left_leg_ft_sensor left_foot_rear_ft_sensor left_foot_front_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (left_leg_ft_sensor left_foot_rear_ft_sensor left_foot_front_ft_sensor)
+          (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">

diff --git a/urdf/simmechanics/data/ergocub/conf/wrappers/FT/right_leg-FT_remapper.xml b/urdf/simmechanics/data/ergocub/conf/wrappers/FT/right_leg-FT_remapper.xml
@@ -4,11 +4,9 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper">
         <param name="SixAxisForceTorqueSensorsNames">
-          (right_leg_ft_sensor right_foot_rear_ft_sensor right_foot_front_ft_sensor)
-        </param>
-        <param name="TemperatureSensorsNames">
-          (right_leg_ft_sensor right_foot_rear_ft_sensor right_foot_front_ft_sensor)
+          (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor)
         </param>
+
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
              <elem name="right_leg_ft"> ergocub_right_leg_ft </elem>