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Update ergoxub_gz_sim.xml to disable hands devices
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18 changes: 18 additions & 0 deletions
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urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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|
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-mc_remapper" | ||
| type="controlboardremapper"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_arm_joints1">( 0 6 0 6 )</elem> | ||
| <!-- <elem name="left_arm_joints2">( 7 12 0 5 )</elem> --> | ||
| </paramlist> | ||
| <param name="joints"> 7 </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="left_arm_joints1"> left_arm_hardware_device </elem> | ||
| <!-- <elem name="left_arm_joints2"> left_hand_hardware_device </elem> --> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
18 changes: 18 additions & 0 deletions
18
urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
|
|
||
| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-mc_remapper" | ||
| type="controlboardremapper"> | ||
| <paramlist name="networks"> | ||
| <elem name="right_arm_joints1">( 0 6 0 6 )</elem> | ||
| <!-- <elem name="right_arm_joints2">( 7 12 0 5 )</elem> --> | ||
| </paramlist> | ||
| <param name="joints"> 7 </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="right_arm_joints1"> right_arm_hardware_device </elem> | ||
| <!-- <elem name="right_arm_joints2"> right_hand_hardware_device </elem> --> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |