icub.xml

<?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="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">

    <devices>

    <!-- 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/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_wrapper.xml" />
    <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
    <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_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" />
<!--  NOT USED RIGHT NOW
    <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->    
    </devices>
</robot>