launch-wholebodydynamics-icub-six-fts-sim.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="@WBD_YARP_ROBOT_NAME@" build="1" xmlns:xi="http://www.w3.org/2001/XInclude">
    <!-- controlboards -->
    <device name="torso_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/torso </param>
        <param name="local"> /wholeBodyDynamics/torso </param>
    </device>

    <device name="left_arm_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/left_arm </param>
        <param name="local"> /wholeBodyDynamics/left_arm </param>
    </device>

    <device name="right_arm_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/right_arm </param>
        <param name="local"> /wholeBodyDynamics/right_arm </param>
    </device>

    <device name="left_leg_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/left_leg </param>
        <param name="local"> /wholeBodyDynamics/left_leg </param>
    </device>

    <device name="right_leg_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/right_leg </param>
        <param name="local"> /wholeBodyDynamics/right_leg </param>
    </device>

    <device name="head_mc" type="remote_controlboard">
        <param name="remote"> /icubSim/head </param>
        <param name="local"> /wholeBodyDynamics/head </param>
    </device>

    <!-- the head and wrist virtual analog sensor are not used in practice, so they are commented out
    <device name="head_virtual_strain" type="virtualAnalogClient">
        <param name="remote"> /icubSim/joint_vsens/head:i </param>
        <param name="local"> /wholeBodyDynamics/head/Torques:o </param>
        <param name="AxisName"> (neck_pitch,neck_roll,neck_yaw) </param>
        <param name="virtualAnalogSensorInteger"> 0 </param>
    </device>

    <device name="left_wrist_virtual_strain" type="virtualAnalogClient">
        <param name="remote"> /icubSim/joint_vsens/left_wrist:i </param>
        <param name="local"> /wholeBodyDynamics/left_wrist/Torques:o </param>
        <param name="AxisName"> (l_wrist_pitch,l_wrist_yaw) </param>
        <param name="virtualAnalogSensorInteger"> 3 </param>
    </device>

    <device name="right_wrist_virtual_strain" type="virtualAnalogClient">
        <param name="remote"> /icubSim/joint_vsens/right_wrist:i </param>
        <param name="local"> /wholeBodyDynamics/right_wrist/Torques:o </param>
        <param name="AxisName"> (l_wrist_pitch,l_wrist_yaw) </param>
        <param name="virtualAnalogSensorInteger"> 3 </param>
    </device>
    -->

    <!-- imu -->
    <device name="head-inertial-client" type="multipleanalogsensorsclient">
        <param name="remote"> /icubSim/head/inertials </param>
        <param name="local"> /wholeBodyDynamics/imu </param>
    </device>

    <!-- six axis force torque sensors -->
    <device name="left_arm_client" type="multipleanalogsensorsclient">
        <param name="remote"> /icubSim/left_arm/FT </param>
        <param name="local"> /wholeBodyDynamics/l_arm_ft </param>
    </device>

    <device name="right_arm_client" type="multipleanalogsensorsclient">
        <param name="remote"> /icubSim/right_arm/FT </param>
        <param name="local"> /wholeBodyDynamics/r_arm_ft </param>
    </device>

    <device name="left_leg_client" type="multipleanalogsensorsclient">
        <param name="remote"> /icubSim/left_leg/FT </param>
        <param name="local"> /wholeBodyDynamics/l_leg_ft </param>
    </device>

    <device name="right_leg_client" type="multipleanalogsensorsclient">
        <param name="remote"> /icubSim/right_leg/FT </param>
        <param name="local"> /wholeBodyDynamics/r_leg_ft </param>
    </device>

    <!-- estimators -->
    <xi:include href="estimators/wholebodydynamics-external.xml" />
</robot>