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icub_all.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD robotInterface 1.0//EN" "http://www.icub.org/DTD/robotInterfaceV1.0.dtd">
<robot name="iCubMunich01" build="1" portprefix="icub">
<!-- cartesian -->
<devices file="cartesian/left_arm_cartesian.xml" />
<devices file="cartesian/right_arm_cartesian.xml" />
<!-- motor controllers wrappers -->
<devices file="wrappers/motorControl/left_arm_mc_wrapper.xml" />
<devices file="wrappers/motorControl/right_arm_mc_wrapper.xml" />
<devices file="wrappers/motorControl/left_leg_mc_wrapper.xml" />
<devices file="wrappers/motorControl/right_leg_mc_wrapper.xml" />
<devices file="wrappers/motorControl/head_mc_wrapper.xml" />
<devices file="wrappers/motorControl/torso_mc_wrapper.xml" />
<devices file="hardware/motorControl/icub_left_arm.xml" />
<devices file="hardware/motorControl/icub_left_hand.xml" />
<devices file="hardware/motorControl/icub_right_arm.xml" />
<devices file="hardware/motorControl/icub_right_hand.xml" />
<devices file="hardware/motorControl/icub_left_leg.xml" />
<devices file="hardware/motorControl/icub_right_leg.xml" />
<devices file="hardware/motorControl/icub_head.xml" />
<devices file="hardware/motorControl/icub_torso.xml" />
<!-- VIRTUAL ANALOG SERVERs -->
<devices file="wrappers/VFT/left_arm_VFT_wrapper.xml" />
<devices file="wrappers/VFT/left_leg_VFT_wrapper.xml" />
<devices file="wrappers/VFT/right_arm_VFT_wrapper.xml" />
<devices file="wrappers/VFT/right_leg_VFT_wrapper.xml" />
<devices file="wrappers/VFT/torso_VFT_wrapper.xml" />
<devices file="hardware/VFT/left_arm_virtual_strain.xml" />
<devices file="hardware/VFT/left_leg_virtual_strain.xml" />
<devices file="hardware/VFT/right_arm_virtual_strain.xml" />
<devices file="hardware/VFT/right_leg_virtual_strain.xml" />
<devices file="hardware/VFT/torso_virtual_strain.xml" />
<!-- REAL ANALOG SENSORS -->
<devices file="wrappers/FT/left_arm_FT_wrapper.xml" />
<devices file="wrappers/FT/left_leg_FT_wrapper.xml" />
<devices file="wrappers/FT/right_arm_FT_wrapper.xml" />
<devices file="wrappers/FT/right_leg_FT_wrapper.xml" />
<devices file="wrappers/MAIS/left_hand_mais_wrapper.xml" />
<devices file="wrappers/MAIS/right_hand_mais_wrapper.xml" />
<devices file="hardware/FT/left_arm_strain.xml" />
<devices file="hardware/FT/left_leg_strain.xml" />
<devices file="hardware/FT/right_arm_strain.xml" />
<devices file="hardware/FT/right_leg_strain.xml" />
<devices file="hardware/MAIS/left_hand_mais.xml" />
<devices file="hardware/MAIS/right_hand_mais.xml" />
<!-- SKIN -->
<devices file="wrappers/skin/left_arm_skin_wrapper.xml" />
<devices file="wrappers/skin/right_arm_skin_wrapper.xml" />
<devices file="wrappers/skin/torso_skin_wrapper.xml" />
<devices file="hardware/skin/left_arm.xml" />
<devices file="hardware/skin/right_arm.xml" />
<devices file="hardware/skin/torso.xml" />
<!-- MTX INERTIAL SENSOR & SKIN INERTIAL SENSOR-->
<devices file="hardware/inertial.xml" />
<!-- CALIBRATORS -->
<devices file="calibrators/head_calib.xml" />
<devices file="calibrators/torso_calib.xml" />
<devices file="calibrators/right_leg_calib.xml" />
<devices file="calibrators/left_leg_calib.xml" />
<devices file="calibrators/left_arm_calib.xml" />
<devices file="calibrators/right_arm_calib.xml" />
<devices file="calibrators/left_hand_calib.xml" />
<devices file="calibrators/right_hand_calib.xml" />
</robot>