From 7dc6d587e9f4cc849f9ba6f00272ef50fd18091f Mon Sep 17 00:00:00 2001
From: InesSorrentino <43743081+isorrentino@users.noreply.github.com>
Date: Wed, 6 Jul 2022 21:48:46 +0200
Subject: [PATCH] Add left upper leg FT in iCubGazeboV3 config files (#154)

---
 .../app/launch-wholebodydynamics-icub3-sim.xml              | 5 +++++
 .../app/wholebodydynamics-icub3-external-sim.xml            | 6 ++++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml
index d9f4d43..7bd8d80 100644
--- a/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml
+++ b/devices/wholeBodyDynamics/app/launch-wholebodydynamics-icub3-sim.xml
@@ -60,6 +60,11 @@
         <param name="local"> /wholeBodyDynamics/l_foot_rear_ft_sensor </param>
     </device>
 
+    <device name="left_upper_leg_strain" type="analogsensorclient">
+        <param name="remote"> /icubSim/left_leg/analog:o </param>
+        <param name="local"> /wholeBodyDynamics/l_leg_ft_sensor </param>
+    </device>
+
     <device name="right_lower_leg_front_strain" type="analogsensorclient">
         <param name="remote"> /icubSim/right_foot_front/analog:o </param>
         <param name="local"> /wholeBodyDynamics/r_foot_front_ft_sensor </param>
diff --git a/devices/wholeBodyDynamics/app/wholebodydynamics-icub3-external-sim.xml b/devices/wholeBodyDynamics/app/wholebodydynamics-icub3-external-sim.xml
index 966bbdb..e6ea9ac 100644
--- a/devices/wholeBodyDynamics/app/wholebodydynamics-icub3-external-sim.xml
+++ b/devices/wholeBodyDynamics/app/wholebodydynamics-icub3-external-sim.xml
@@ -11,7 +11,7 @@
                                  r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
         <param name="modelFile">model.urdf</param>
         <param name="fixedFrameGravity">(0,0,-9.81)</param>
-            <param name="defaultContactFrames">(l_hand,r_hand,root_link,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
+            <param name="defaultContactFrames">(l_hand,r_hand,root_link,l_upper_leg,l_foot_front,l_foot_rear,r_upper_leg,r_foot_front,r_foot_rear,l_lower_leg,r_lower_leg)</param>
         <param name="imuFrameName">imu_frame</param>
         <param name="useJointVelocity">true</param>
         <param name="useJointAcceleration">true</param>
@@ -76,6 +76,7 @@
         <group name="WBD_OUTPUT_EXTERNAL_WRENCH_PORTS">
             <param name="/wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o">(l_hand,l_hand,root_link)</param>
             <param name="/wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o">(r_hand,r_hand,root_link)</param>
+            <param name="/wholeBodyDynamics/left_upper_leg/cartesianEndEffectorWrench:o">(l_upper_leg,l_upper_leg,root_link)</param>
             <param name="/wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o">(r_upper_leg,r_upper_leg,root_link)</param>
             <param name="/wholeBodyDynamics/left_lower_leg/cartesianEndEffectorWrench:o">(l_lower_leg,l_lower_leg,root_link)</param>
             <param name="/wholeBodyDynamics/right_lower_leg/cartesianEndEffectorWrench:o">(r_lower_leg,r_lower_leg,root_link)</param>
@@ -99,11 +100,12 @@
                 <!-- ft -->
                 <elem name="l_arm_ft_sensor">left_upper_arm_strain</elem>
                 <elem name="r_arm_ft_sensor">right_upper_arm_strain</elem>
+                <elem name="l_leg_ft_sensor">left_upper_leg_strain</elem>
                 <elem name="l_foot_front_ft_sensor">left_lower_leg_front_strain</elem>
                 <elem name="l_foot_rear_ft_sensor">left_lower_leg_rear_strain</elem>
+                <elem name="r_leg_ft_sensor">right_upper_leg_strain</elem>
                 <elem name="r_foot_front_ft_sensor">right_lower_leg_front_strain</elem>
                 <elem name="r_foot_rear_ft_sensor">right_lower_leg_rear_strain</elem>
-                <elem name="r_leg_ft_sensor">right_upper_leg_strain</elem>
             </paramlist>
         </action>