From 67534e3205d069ed55ad9c3681a76145401bb80c Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Mon, 16 Dec 2024 11:39:33 +0100
Subject: [PATCH] Update gz-sim conf files for using the ergocub hands

---
 urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml   | 12 ++++++++++++
 urdf/ergoCub/conf/ergocub_gz_sim.xml           |  4 ++--
 .../left_arm-mc_remapper_gz_sim.xml            | 18 ------------------
 .../right_arm-mc_remapper_gz_sim.xml           | 18 ------------------
 4 files changed, 14 insertions(+), 38 deletions(-)
 delete mode 100644 urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml
 delete mode 100644 urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml

diff --git a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
index 34bc7cd7..ee1f0f30 100644
--- 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
index 5f599326..51e165b9 100644
--- 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
deleted file mode 100644
index 7a9aee81..00000000
--- a/urdf/ergoCub/conf/wrappers/motorControl/left_arm-mc_remapper_gz_sim.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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="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>
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
deleted file mode 100644
index d559bd03..00000000
--- a/urdf/ergoCub/conf/wrappers/motorControl/right_arm-mc_remapper_gz_sim.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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>