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icub_all.xml
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="iCubGenova03" build="1">
<devices>
<!-- cartesian -->
<xi:include href="cartesian/left_arm_cartesian.xml" />
<xi:include href="cartesian/right_arm_cartesian.xml" />
<!-- motor controllers wrappers -->
<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/head-mc_remapper.xml" />
<xi:include href="wrappers/motorControl/torso-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="hardware/motorControl/icub_left_arm.xml" />
<xi:include href="hardware/motorControl/icub_left_hand.xml" />
<xi:include href="hardware/motorControl/icub_right_arm.xml" />
<xi:include href="hardware/motorControl/icub_right_hand.xml" />
<xi:include href="hardware/motorControl/icub_left_leg.xml" />
<xi:include href="hardware/motorControl/icub_right_leg.xml" />
<xi:include href="hardware/motorControl/icub_head.xml" />
<xi:include href="hardware/motorControl/icub_torso.xml" />
<!-- VIRTUAL ANALOG SERVERs -->
<xi:include href="wrappers/VFT/left_arm_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/left_leg_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_arm_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/right_leg_VFT_wrapper.xml" />
<xi:include href="wrappers/VFT/torso_VFT_wrapper.xml" />
<xi:include href="hardware/VFT/left_arm_virtual_strain.xml" />
<xi:include href="hardware/VFT/left_leg_virtual_strain.xml" />
<xi:include href="hardware/VFT/right_arm_virtual_strain.xml" />
<xi:include href="hardware/VFT/right_leg_virtual_strain.xml" />
<xi:include href="hardware/VFT/torso_virtual_strain.xml" />
<!-- REAL ANALOG SENSORS -->
<xi:include href="wrappers/FT/left_arm_FT_wrapper.xml" />
<xi:include href="wrappers/FT/left_leg-FT_remapper.xml" />
<xi:include href="wrappers/FT/left_leg_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_arm_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg_FT_wrapper.xml" />
<xi:include href="wrappers/FT/right_leg-FT_remapper.xml" />
<xi:include href="wrappers/MAIS/left_hand_mais_wrapper.xml" />
<xi:include href="wrappers/MAIS/right_hand_mais_wrapper.xml" />
<xi:include href="hardware/FT/left_arm_strain.xml" />
<xi:include href="hardware/FT/left_leg_strain.xml" />
<xi:include href="hardware/FT/left_foot_strain.xml" />
<xi:include href="hardware/FT/right_arm_strain.xml" />
<xi:include href="hardware/FT/right_leg_strain.xml" />
<xi:include href="hardware/FT/right_foot_strain.xml" />
<xi:include href="hardware/MAIS/left_hand_mais.xml" />
<xi:include href="hardware/MAIS/right_hand_mais.xml" />
<!-- SKIN -->
<xi:include href="wrappers/skin/left_arm_skin_wrapper.xml" />
<xi:include href="wrappers/skin/right_arm_skin_wrapper.xml" />
<xi:include href="wrappers/skin/torso_skin_wrapper.xml" />
<xi:include href="hardware/skin/left_arm.xml" />
<xi:include href="hardware/skin/right_arm.xml" />
<xi:include href="hardware/skin/torso.xml" />
<!-- MTX INERTIAL SENSOR & SKIN 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="wrappers/skin/left_hand_inertial_wrapper.xml" />
<xi:include href="wrappers/skin/right_hand_inertial_wrapper.xml" />
<xi:include href="hardware/skin/left_hand_inertial_mtb.xml" />
<xi:include href="hardware/skin/right_hand_inertial_mtb.xml" />
<!-- CALIBRATORS -->
<xi:include href="calibrators/head_calib.xml" />
<xi:include href="calibrators/torso_calib.xml" />
<xi:include href="calibrators/right_leg_calib.xml" />
<xi:include href="calibrators/left_leg_calib.xml" />
<xi:include href="calibrators/left_arm_calib.xml" />
<xi:include href="calibrators/right_arm_calib.xml" />
<xi:include href="calibrators/left_hand_calib.xml" />
<xi:include href="calibrators/right_hand_calib.xml" />
</devices>
</robot>