Align the xml files in order to use enabled_by and disabled_by

[Nicogene]

Task description

We need to align the xml files of the simulated robot to the real ones, now the real robot uses the enabled_by and disabled_by clauses, see:

• Cleanup yarprobotinterface conf files for ergoCub

Definition of Done

The xml are aligned

cc @traversaro @pattacini

[traversaro]

The problem is that for simulated robot at the moment you have no way to pass the enable_tags and disable_tags values in gazebo-yarp-controlboard plugin, so before doing this we need to appropriately modify the plugins, see:

• Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model robotology/gazebo-yarp-plugins#672
• Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model robotology/gz-sim-yarp-plugins#163

[Nicogene]

The problem is that for simulated robot at the moment you have no way to pass the enable_tags and disable_tags values in gazebo-yarp-controlboard plugin, so before doing this we need to appropriately modify the plugins, see:

* [Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model robotology/gazebo-yarp-plugins#672](https://github.com/robotology/gazebo-yarp-plugins/issues/672)

* [Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model robotology/gz-sim-yarp-plugins#163](https://github.com/robotology/gz-sim-yarp-plugins/issues/163)

Yes thanks @traversaro I forgot about it, I put it back in the backlog awaiting that the feature in gyp will be available 👍🏻

[traversaro]

Yes thanks @traversaro I forgot about it, I put it back in the backlog awaiting that the feature in gyp will be available 👍🏻

Just to be aligned, at the moment no one is planning/scheduling to work on that issue.