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Merge pull request #239 from martinaxgloria/fix/refactorFT
Refactoring of FT configurations for publishing them divided per parts
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20 changes: 20 additions & 0 deletions
20
simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (l_leg_ft_sensor l_foot_ft_sensor) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (l_leg_ft_sensor l_foot_ft_sensor) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_leg_ft_sensor"> icub_left_leg_ft </elem> | ||
| <elem name="left_foot_ft_sensor"> icub_left_foot_ft </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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20 changes: 20 additions & 0 deletions
20
simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (r_leg_ft_sensor r_foot_ft_sensor) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (r_leg_ft_sensor r_foot_ft_sensor) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="right_leg_ft_sensor"> icub_right_leg_ft </elem> | ||
| <elem name="right_foot_ft_sensor"> icub_right_foot_ft </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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17 changes: 0 additions & 17 deletions
17
simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml
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16 changes: 0 additions & 16 deletions
16
simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml
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17 changes: 0 additions & 17 deletions
17
simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml
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21 changes: 21 additions & 0 deletions
21
simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-FT_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (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"> | ||
| <elem name="left_leg_ft_sensor"> icub_left_leg_ft </elem> | ||
| <elem name="left_foot_rear_ft_sensor"> icub_left_foot_rear_ft </elem> | ||
| <elem name="left_foot_front_ft_sensor"> icub_left_foot_front_ft </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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17 changes: 0 additions & 17 deletions
17
simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml
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16 changes: 0 additions & 16 deletions
16
simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml
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17 changes: 0 additions & 17 deletions
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simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml
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21 changes: 21 additions & 0 deletions
21
simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-FT_remapper" type="multipleanalogsensorsremapper"> | ||
| <param name="SixAxisForceTorqueSensorsNames"> | ||
| (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor) | ||
| </param> | ||
| <param name="TemperatureSensorsNames"> | ||
| (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_sensor"> icub_right_leg_ft </elem> | ||
| <elem name="right_foot_rear_ft_sensor"> icub_right_foot_rear_ft </elem> | ||
| <elem name="right_foot_front_ft_sensor"> icub_right_foot_front_ft </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
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