[ergoCubSN000] disable FT and AMO right upperleg EB6 2 malfunctioning

Author: filippoborgogni

ergoCubSN000/ergocub.xml

@@ -75,17 +75,17 @@
     <xi:include href="hardware/FT/left_leg-eb9-j4_5-strain.xml" disabled_by="disable_left_leg" />
     <xi:include href="hardware/FT/right_leg-eb7-j4_5-strain.xml" disabled_by="disable_right_leg" />
     <xi:include href="hardware/FT/left_leg-eb8-j0_3-strain.xml" disabled_by="disable_left_leg" />
-    <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" disabled_by="disable_right_leg" />
+   <!-- <xi:include href="hardware/FT/right_leg-eb6-j0_3-strain.xml" disabled_by="disable_right_leg" />-->
 
     <!-- FT SENSORS - REMAPPERS -->
     <xi:include href="wrappers/FT/left_leg-FT_remapper.xml" disabled_by="disable_left_leg" />
-    <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" disabled_by="disable_right_leg" />
+   <!-- <xi:include href="wrappers/FT/right_leg-FT_remapper.xml" disabled_by="disable_right_leg" />
 
     <!-- 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/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" />
+   <!-- <xi:include href="wrappers/FT/right_leg-FT_wrapper.xml" disabled_by="disable_right_leg" />
 
     <!-- INERTIAL SENSOR -->
     <xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" disabled_by="disable_head" />
@@ -105,18 +105,18 @@
     <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/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/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/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/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" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" disabled_by="disable_right_leg" />
-    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" disabled_by="disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
+   <!-- <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" disabled_by="disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
     <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" disabled_by="disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
 
     <!-- BATTERY BAT -->
@@ -145,7 +145,7 @@
     <xi:include href="wrappers/FT/right_foot-FT_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_ros2 disable_right_leg" />
 
     <!-- ESTIMATORS -->
-    <xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />
+   <!-- <xi:include href="estimators/wholebodydynamics.xml" disabled_by="disable_wholebodynamics disable_head disable_torso disable_right_arm disable_left_arm disable_right_leg disable_left_leg" />-->
 
   </devices>
 </robot>

ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml

@@ -36,8 +36,8 @@
                 </group>
 
                 <group name="ENCODER1">  
-                    <param name="type">             amo                 amo         amo         amo       </param>  
-                    <param name="port">             CONN:P6             CONN:P8     CONN:P7     CONN:P9   </param>
+                    <param name="type">             none                none        none        none       </param>  
+                    <param name="port">             CONN:P6             CONN:P10    CONN:P11    CONN:P9   </param>
                     <param name="position">         atjoint             atjoint     atjoint     atjoint   </param>
                     <param name="resolution">      -16384              -16384      -16384      16384     </param>      
                     <param name="tolerance">        0.703               0.703       0.703       0.703     </param>