Skip to content

Commit ed32e5c

Browse files
NicogeneNicogene
authored
Remove inertial xml files and references removed in YARP 3.8.0 (#468)
1 parent 0345455 commit ed32e5c

File tree

179 files changed

+2447
-3770
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

179 files changed

+2447
-3770
lines changed

‎ergoCubSN000/wrappers/inertials/head-inertials_wrapper-deprecated.xml

-19
This file was deleted.

‎experimentalSetups/head_face-v3/hardware/inertials/head-inertial.xml

+2-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11

2-
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="inertial" type="inertial">
2+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="inertial" type="multipleanalogsensorsserver">
3+
<param name="period"> 10 </param>
34
<param name="name"> /icub/inertial </param>
45
<param name="subdevice"> xsensmtx </param>
56
<param name="serial"> /dev/ttyS4 </param>

‎experimentalSetups/iCubGenova02-VelCtrl/icub_all.xml

+42-43
Original file line numberDiff line numberDiff line change
@@ -4,27 +4,27 @@
44
<params>
55
<xi:include href="hardware/electronics/pc104.xml" />
66
</params>
7-
7+
88
<devices>
99
<!-- HEAD -->
10-
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
11-
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
12-
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
13-
10+
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
11+
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
12+
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
13+
1414
<!-- FACE -->
15-
<xi:include href="./hardware/motorControl/face-eb22-j0_1-mc.xml" />
16-
<xi:include href="./hardware/motorControl/face-eb23-j2_5-mc.xml" />
17-
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
18-
15+
<xi:include href="./hardware/motorControl/face-eb22-j0_1-mc.xml" />
16+
<xi:include href="./hardware/motorControl/face-eb23-j2_5-mc.xml" />
17+
<xi:include href="./wrappers/motorControl/face-mc_wrapper.xml" />
18+
1919

20-
<!-- TORSO -->
20+
<!-- TORSO -->
2121
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
22-
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
22+
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
2323

2424
<!-- LEFT ARM -->
2525
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
2626
<xi:include href="hardware/motorControl/left_arm-eb2-j4_15-mc.xml" />
27-
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
27+
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
2828

2929
<!-- RIGHT ARM -->
3030
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
@@ -34,32 +34,31 @@
3434
<!-- LEFT LEG -->
3535
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
3636
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
37-
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
37+
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
3838

3939
<!-- RIGHT LEG -->
4040
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
4141
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
4242
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
43-
4443

45-
<!-- INERTIAL SENSOR-->
44+
45+
<!-- INERTIAL SENSOR-->
4646
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
4747
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
4848
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
49-
<xi:include href="wrappers/inertials/head-inertials_wrapper-deprecated.xml" />
5049
<xi:include href="hardware/inertials/head-inertial.xml" />
51-
50+
5251
<!-- ANALOG SENSOR MAIS -->
53-
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
54-
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
55-
<xi:include href="hardware/MAIS/left_arm-eb2-j4_15-mais.xml" />
56-
<xi:include href="hardware/MAIS/right_arm-eb4-j4_15-mais.xml" />
57-
58-
<!-- SKINS -->
52+
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
53+
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
54+
<xi:include href="hardware/MAIS/left_arm-eb2-j4_15-mais.xml" />
55+
<xi:include href="hardware/MAIS/right_arm-eb4-j4_15-mais.xml" />
56+
57+
<!-- SKINS -->
5958
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
6059
<xi:include href="hardware/skin/left_arm-eb2-j4_15-skin.xml" />
61-
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
62-
<xi:include href="hardware/skin/right_arm-eb4-j4_15-skin.xml" />
60+
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
61+
<xi:include href="hardware/skin/right_arm-eb4-j4_15-skin.xml" />
6362
<xi:include href="wrappers/skin/left_leg-skin_wrapper.xml" />
6463
<xi:include href="wrappers/skin/right_leg-skin_wrapper.xml" />
6564
<xi:include href="hardware/skin/left_leg-eb10-skin.xml" />
@@ -69,38 +68,38 @@
6968
<xi:include href="hardware/skin/torso-eb22-skin.xml" />
7069
-->
7170
<!-- ANALOG SENSOR FT -->
72-
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
71+
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
7372
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
74-
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
73+
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
7574
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
76-
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
75+
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
7776
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
78-
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
77+
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
7978
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />
80-
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
79+
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
8180
<xi:include href="hardware/FT/left_leg-eb7-j4_5-strain.xml" />
82-
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
81+
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
8382
<xi:include href="hardware/FT/right_leg-eb9-j4_5-strain.xml" />
84-
83+
8584
<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) -->
86-
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
87-
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
88-
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
89-
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
85+
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
86+
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
87+
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
88+
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
9089
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />
91-
90+
9291
<!-- CALIBRATORS -->
9392
<xi:include href="calibrators/left_arm-calib.xml" />
94-
<xi:include href="calibrators/right_arm-calib.xml" />
93+
<xi:include href="calibrators/right_arm-calib.xml" />
9594
<xi:include href="calibrators/left_leg-calib.xml" />
9695
<xi:include href="calibrators/right_leg-calib.xml" />
9796
<xi:include href="calibrators/torso-calib.xml" />
9897
<xi:include href="calibrators/head-calib.xml" />
9998
<xi:include href="calibrators/face-calib.xml" />
100-
101-
<!-- CARTESIANS -->
99+
100+
<!-- CARTESIANS -->
102101
<xi:include href="cartesian/left_arm-cartesian.xml" />
103-
<xi:include href="cartesian/right_arm-cartesian.xml" />
104-
102+
<xi:include href="cartesian/right_arm-cartesian.xml" />
103+
105104
</devices>
106-
</robot>
105+
</robot>

‎experimentalSetups/iCubGenova02-VelCtrl/icub_all_plus_face-no-eyelids.xml

+41-42
Original file line numberDiff line numberDiff line change
@@ -5,27 +5,27 @@
55
<params>
66
<xi:include href="hardware/electronics/pc104.xml" />
77
</params>
8-
8+
99
<devices>
1010
<!-- HEAD -->
11-
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
12-
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
13-
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
14-
11+
<xi:include href="./hardware/motorControl/head-eb20-j0_1-mc.xml" />
12+
<xi:include href="./hardware/motorControl/head-eb21-j2_5-mc.xml" />
13+
<xi:include href="./wrappers/motorControl/head-mc_wrapper.xml" />
14+
1515
<!-- FACE -->
16-
<xi:include href="./hardware/motorControl/face-eb22-j0_1-mc.xml" />
17-
<xi:include href="./hardware/motorControl/face-eb23-j2_5-mc.xml" />
18-
<xi:include href="./wrappers/motorControl/face-no-eyelids-mc_wrapper.xml" />
16+
<xi:include href="./hardware/motorControl/face-eb22-j0_1-mc.xml" />
17+
<xi:include href="./hardware/motorControl/face-eb23-j2_5-mc.xml" />
18+
<xi:include href="./wrappers/motorControl/face-no-eyelids-mc_wrapper.xml" />
1919

2020

21-
<!-- TORSO -->
21+
<!-- TORSO -->
2222
<xi:include href="hardware/motorControl/torso-eb5-j0_2-mc.xml" />
23-
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
23+
<xi:include href="wrappers/motorControl/torso-mc_wrapper.xml" />
2424

2525
<!-- LEFT ARM -->
2626
<xi:include href="hardware/motorControl/left_arm-eb1-j0_3-mc.xml" />
2727
<xi:include href="hardware/motorControl/left_arm-eb2-j4_15-mc.xml" />
28-
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
28+
<xi:include href="wrappers/motorControl/left_arm-mc_wrapper.xml" />
2929

3030
<!-- RIGHT ARM -->
3131
<xi:include href="hardware/motorControl/right_arm-eb3-j0_3-mc.xml" />
@@ -35,32 +35,31 @@
3535
<!-- LEFT LEG -->
3636
<xi:include href="hardware/motorControl/left_leg-eb6-j0_3-mc.xml" />
3737
<xi:include href="hardware/motorControl/left_leg-eb7-j4_5-mc.xml" />
38-
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
38+
<xi:include href="wrappers/motorControl/left_leg-mc_wrapper.xml" />
3939

4040
<!-- RIGHT LEG -->
4141
<xi:include href="hardware/motorControl/right_leg-eb8-j0_3-mc.xml" />
4242
<xi:include href="hardware/motorControl/right_leg-eb9-j4_5-mc.xml" />
4343
<xi:include href="wrappers/motorControl/right_leg-mc_wrapper.xml" />
44-
4544

46-
<!-- INERTIAL SENSOR-->
45+
46+
<!-- INERTIAL SENSOR-->
4747
<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
4848
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
4949
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
50-
<xi:include href="wrappers/inertials/head-inertials_wrapper-deprecated.xml" />
5150
<xi:include href="hardware/inertials/head-inertial.xml" />
52-
51+
5352
<!-- ANALOG SENSOR MAIS -->
54-
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
55-
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
56-
<xi:include href="hardware/MAIS/left_arm-eb2-j4_15-mais.xml" />
57-
<xi:include href="hardware/MAIS/right_arm-eb4-j4_15-mais.xml" />
58-
59-
<!-- SKINS -->
53+
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
54+
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
55+
<xi:include href="hardware/MAIS/left_arm-eb2-j4_15-mais.xml" />
56+
<xi:include href="hardware/MAIS/right_arm-eb4-j4_15-mais.xml" />
57+
58+
<!-- SKINS -->
6059
<xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
6160
<xi:include href="hardware/skin/left_arm-eb2-j4_15-skin.xml" />
62-
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
63-
<xi:include href="hardware/skin/right_arm-eb4-j4_15-skin.xml" />
61+
<xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
62+
<xi:include href="hardware/skin/right_arm-eb4-j4_15-skin.xml" />
6463
<xi:include href="wrappers/skin/left_leg-skin_wrapper.xml" />
6564
<xi:include href="wrappers/skin/right_leg-skin_wrapper.xml" />
6665
<xi:include href="hardware/skin/left_leg-eb10-skin.xml" />
@@ -70,38 +69,38 @@
7069
<xi:include href="hardware/skin/torso-eb22-skin.xml" />
7170
-->
7271
<!-- ANALOG SENSOR FT -->
73-
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
72+
<xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" />
7473
<xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" />
75-
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
74+
<xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" />
7675
<xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" />
77-
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
76+
<xi:include href="wrappers/FT/right_foot-FT_wrapper.xml" />
7877
<xi:include href="wrappers/FT/left_foot-FT_wrapper.xml" />
79-
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
78+
<xi:include href="hardware/FT/left_arm-eb1-j0_3-strain.xml" />
8079
<xi:include href="hardware/FT/right_arm-eb3-j0_3-strain.xml" />
81-
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
80+
<xi:include href="hardware/FT/left_leg-eb6-j0_3-strain.xml" />
8281
<xi:include href="hardware/FT/left_leg-eb7-j4_5-strain.xml" />
83-
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
82+
<xi:include href="hardware/FT/right_leg-eb8-j0_3-strain.xml" />
8483
<xi:include href="hardware/FT/right_leg-eb9-j4_5-strain.xml" />
85-
84+
8685
<!-- VIRTUAL ANALOG SENSORS (WRAPPER ONLY) -->
87-
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
88-
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
89-
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
90-
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
86+
<xi:include href="wrappers/VFT/left_arm-VFT_wrapper.xml" />
87+
<xi:include href="wrappers/VFT/right_leg-VFT_wrapper.xml" />
88+
<xi:include href="wrappers/VFT/left_leg-VFT_wrapper.xml" />
89+
<xi:include href="wrappers/VFT/right_arm-VFT_wrapper.xml" />
9190
<xi:include href="wrappers/VFT/torso-VFT_wrapper.xml" />
92-
91+
9392
<!-- CALIBRATORS -->
9493
<xi:include href="calibrators/left_arm-calib.xml" />
95-
<xi:include href="calibrators/right_arm-calib.xml" />
94+
<xi:include href="calibrators/right_arm-calib.xml" />
9695
<xi:include href="calibrators/left_leg-calib.xml" />
9796
<xi:include href="calibrators/right_leg-calib.xml" />
9897
<xi:include href="calibrators/torso-calib.xml" />
9998
<xi:include href="calibrators/head-calib.xml" />
10099
<xi:include href="calibrators/face-no-eyelids-calib.xml" />
101-
102-
<!-- CARTESIANS -->
100+
101+
<!-- CARTESIANS -->
103102
<xi:include href="cartesian/left_arm-cartesian.xml" />
104-
<xi:include href="cartesian/right_arm-cartesian.xml" />
105-
103+
<xi:include href="cartesian/right_arm-cartesian.xml" />
104+
106105
</devices>
107-
</robot>
106+
</robot>

0 commit comments

Comments
 (0)