[ergoCubSN001] Completely reenabled arm FTs

This reverts commit 0ad2746.

ergoCubSN001/ergocub.xml

@@ -84,7 +84,7 @@
 
     <!-- FT SENSORS - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/FT/left_arm-FT_wrapper.xml" disabled_by="disable_left_arm" />
-    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" disabled_by="disable_right_arm" />  
+    <xi:include href="wrappers/FT/right_arm-FT_wrapper.xml" disabled_by="disable_right_arm" />
     <xi:include href="wrappers/FT/left_leg-FT_wrapper.xml" disabled_by="disable_left_leg" />
     <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" disabled_by="disable_right_leg" />
 
@@ -104,15 +104,15 @@
 
     <!-- FT SENSORS - IMU -->
     <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" disabled_by="disable_left_arm" />
-    <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" disabled_by="disable_right_arm" />  
+    <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" disabled_by="disable_right_arm" />
     <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" disabled_by="disable_right_leg" />
     <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" disabled_by="disable_right_leg" />
 
     <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" disabled_by="disable_left_arm" />
-    <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" disabled_by="disable_right_arm" /> 
+    <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" disabled_by="disable_right_arm" />
     <xi:include href="wrappers/inertials/left_leg-imu_wrapper.xml" disabled_by="disable_left_leg" />
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" disabled_by="disable_right_leg" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" disabled_by="disable_left_leg" />
@@ -141,7 +141,7 @@
     <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
     <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
     <xi:include href="wrappers/FT/left_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_left_arm" />
-    <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_arm" /> 
+    <xi:include href="wrappers/FT/right_arm-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_arm" />
     <xi:include href="wrappers/FT/left_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_left_leg" />
     <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_leg" />
 

ergoCubSN001/estimators/wholebodydynamics.xml

@@ -6,7 +6,7 @@
   <param name="axesNames">(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_roll,l_wrist_pitch,l_wrist_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_roll,r_wrist_pitch,r_wrist_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)</param>
   <param name="modelFile">model.urdf</param>
   <param name="fixedFrameGravity">(0,0,-9.81)</param>
-  <param name="defaultContactFrames">(root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
+  <param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
   <param name="imuFrameName">waist_imu_0</param>
   <param name="publishOnROS">true</param>
   <param name="forceTorqueEstimateConfidence">2</param>
@@ -28,7 +28,7 @@
   </group>
 
   <group name="multipleAnalogSensorsNames">
-    <param name="SixAxisForceTorqueSensorsNames">(l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft)</param>
+    <param name="SixAxisForceTorqueSensorsNames">(l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft, l_arm_ft)</param>
   </group>
 
 
@@ -72,8 +72,8 @@
       <!-- ft -->
       <elem name="l_leg_ft_sensors">left_leg-FT_remapper</elem>
       <elem name="r_leg_ft_sensors">right_leg-FT_remapper</elem>
-<!--      <elem name="l_arm_ft_sensors">left_arm-eb2-j0_1-strain</elem>
-      <elem name="r_arm_ft_sensors">right_arm-eb1-j0_1-strain</elem> -->
+      <elem name="l_arm_ft_sensors">left_arm-eb2-j0_1-strain</elem>
+      <elem name="r_arm_ft_sensors">right_arm-eb1-j0_1-strain</elem>
     </paramlist>
   </action>
 

ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml

@@ -4,13 +4,15 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
         <param name="OrientationSensorsNames">
-            (head_imu_0 l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)
+            (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
                 <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
                 <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
+                <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
                 <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
                 <elem name="waist_imu"> waist-inertial </elem>