Update gz-sim conf files for using the ergocub hands

icub-tech-iit · Jan 10, 2025 · 67534e3 · 67534e3
1 parent 1459925
commit 67534e3
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Showing 4 changed files with 14 additions and 38 deletions.
diff --git a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
@@ -1580,6 +1580,12 @@ XMLBlobs:
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+            <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="l_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>
@@ -1629,6 +1635,12 @@ XMLBlobs:
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_right_hand_mk5_1.ini</yarpConfigurationFile>
             </plugin>
             </gazebo>
+    - |
+            <gazebo>
+            <plugin name="gzyarp::ControlBoard" filename="gz-sim-yarp-controlboard-system">
+            <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_left_hand_mk5_1.ini</yarpConfigurationFile>
+            </plugin>
+            </gazebo>
     - |
             <gazebo reference="r_shoulder_pitch">
               <implicitSpringDamper>1</implicitSpringDamper>

diff --git a/urdf/ergoCub/conf/ergocub_gz_sim.xml b/urdf/ergoCub/conf/ergocub_gz_sim.xml
@@ -13,8 +13,8 @@
     <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_gz_sim.xml" />
-    <xi:include href="wrappers/motorControl/right_arm-mc_remapper_gz_sim.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" />

diff --git a/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml b/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml
diff --git a/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml b/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml