IMU sensors - Include alljoints-inertials_wrapper/remapper in YRI xml…

… files (#640)
robotology · Apr 12, 2024 · c6a2982 · c6a2982
1 parent 00dd933
commit c6a2982
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Showing 27 changed files with 102 additions and 32 deletions.
diff --git a/ergoCubSN000/ergocub_all.xml b/ergoCubSN000/ergocub_all.xml
@@ -106,14 +106,18 @@
     <!-- FT SENSORS - IMU -->
     <xi:include href="hardware/inertials/left_arm-eb2-j0_1-inertial.xml" />
     <xi:include href="hardware/inertials/right_arm-eb1-j0_1-inertial.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb8-j0_3-inertial.xml" />
     <xi:include href="hardware/inertials/left_leg-eb9-j4_5-inertial.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb6-j0_3-inertial.xml" />
     <xi:include href="hardware/inertials/right_leg-eb7-j4_5-inertial.xml" />
 
     <!-- FT SENSORS - IMU - MULTIPLE ANALOG SENSOR SERVERS -->
     <xi:include href="wrappers/inertials/left_arm-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_arm-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- battery BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN000/ergocub_all_ros2.xml b/ergoCubSN000/ergocub_all_ros2.xml
@@ -98,7 +98,6 @@
     <xi:include href="hardware/inertials/head-inertial.xml" />
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
-
 
     <!-- battery BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN000/ergocub_wbd_ros2.xml b/ergoCubSN000/ergocub_wbd_ros2.xml
@@ -109,7 +109,7 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
-    
+
     <!-- battery BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 
     <xi:include href="hardware/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN001/ergocub_all.xml b/ergoCubSN001/ergocub_all.xml
@@ -118,6 +118,8 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- BATTERY BAT 
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN001/ergocub_all_ros2.xml b/ergoCubSN001/ergocub_all_ros2.xml
@@ -98,7 +98,6 @@
     <xi:include href="hardware/inertials/head-inertial.xml" />
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
-
 
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN001/ergocub_wbd.xml b/ergoCubSN001/ergocub_wbd.xml
@@ -119,7 +119,9 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
-
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
+
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" />
     <xi:include href="hardware/battery/battery_bat.xml" />

diff --git a/ergoCubSN001/ergocub_wbd_ros2.xml b/ergoCubSN001/ergocub_wbd_ros2.xml
@@ -109,6 +109,8 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN002/ergocub_all.xml b/ergoCubSN002/ergocub_all.xml
@@ -118,6 +118,8 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- BATTERY BAT 
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN002/ergocub_all_ros2.xml b/ergoCubSN002/ergocub_all_ros2.xml
@@ -98,7 +98,6 @@
     <xi:include href="hardware/inertials/head-inertial.xml" />
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
-
 
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN002/ergocub_wbd.xml b/ergoCubSN002/ergocub_wbd.xml
@@ -96,7 +96,7 @@
     <xi:include href="hardware/inertials/head-inertial.xml" />
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
-
+    
     <!-- IMU - MTB4 BOARDS
     <xi:include href="hardware/inertials/left_arm-eb4-j2_3-inertial.xml" />
     <xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
@@ -118,6 +118,8 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/ergoCubSN002/ergocub_wbd_ros2.xml b/ergoCubSN002/ergocub_wbd_ros2.xml
@@ -109,6 +109,8 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- BATTERY BAT -->
     <xi:include href="wrappers/battery/battery_bat.xml" /> 

diff --git a/iCubGenova07/hardware/inertials/head-inertial.xml b/iCubGenova07/hardware/inertials/head-inertial.xml
@@ -30,18 +30,18 @@
                 </group>
 
                 <group name="SENSORS">
-                    <param name="id">           rfeimu_acc      rfeimu_gyro     rfeimu_mag      rfeimu_status    </param>
-                    <param name="sensorName">   head_imu_0      head_imu_0      head_imu_0      head_imu_0       </param>
-                    <param name="type">         eoas_imu_acc    eoas_imu_gyr    eoas_imu_mag    eoas_imu_status  </param>
-                    <param name="boardType">    rfe             rfe             rfe             rfe              </param>
-                    <param name="location">     CAN1:1          CAN1:1          CAN1:1          CAN1:1           </param>
+                    <param name="id">           rfeimu_acc      rfeimu_gyro     rfeimu_mag      rfeimu_eul      rfeimu_status    </param>
+                    <param name="sensorName">   head_imu_0      head_imu_0      head_imu_0      head_imu_0      head_imu_0       </param>
+                    <param name="type">         eoas_imu_acc    eoas_imu_gyr    eoas_imu_mag    eoas_imu_eul    eoas_imu_status  </param>
+                    <param name="boardType">    rfe             rfe             rfe             rfe             rfe              </param>
+                    <param name="location">     CAN1:1          CAN1:1          CAN1:1          CAN1:1          CAN1:1           </param>
                 </group>
 
             </group>
 
             <group name="SETTINGS">
                 <param name="acquisitionRate">      10      </param>
-                <param name="enabledSensors">       rfeimu_acc  rfeimu_gyro  rfeimu_mag  rfeimu_status </param>
+                <param name="enabledSensors">       rfeimu_acc  rfeimu_gyro  rfeimu_mag  rfeimu_eul  rfeimu_status </param>
             </group>
 
         </group>

diff --git a/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml b/iCubGenova07/hardware/inertials/left_leg-eb6-IMU.xml
@@ -32,7 +32,7 @@
                 <group name="SENSORS">
                     <param name="id">         l_upper_leg_imu_acc_1    l_upper_leg_imu_gyro_1    l_upper_leg_imu_eul_1    l_upper_leg_imu_mag_1    l_upper_leg_imu_stat_1  </param>
                     <param name="sensorName"> l_leg_ft_imu             l_leg_ft_imu              l_leg_ft_imu             l_leg_ft_imu             l_leg_ft_imu            </param>
-                    <param name="type">       eoas_imu_acc             eoas_imu_gyr              eoas_imu_eul             eoas_imu_mag             eoas_imu_statu          </param>
+                    <param name="type">       eoas_imu_acc             eoas_imu_gyr              eoas_imu_eul             eoas_imu_mag             eoas_imu_status         </param>
                     <param name="boardType">  strain2                  strain2                   strain2                  strain2                  strain2                 </param>
                     <param name="location">   CAN2:13                  CAN2:13                   CAN2:13                  CAN2:13                  CAN2:13                 </param>
                 </group>

diff --git a/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml b/iCubGenova07/hardware/inertials/left_leg-eb7-IMU.xml
@@ -30,11 +30,11 @@
                 </group>
 
                 <group name="SENSORS">
-                    <param name="id">        l_lower_leg_imu_acc_2    l_lower_leg_imu_gyro_2    l_lower_leg_imu_eul_2    l_lower_leg_imu_mag_2    l_lower_leg_imu_stat_2  </param>
-                    <param name="type">      l_foot_ft_imu            l_foot_ft_imu             l_foot_ft_imu            l_foot_ft_imu            l_foot_ft_imu           </param>
-                    <param name="type">      eoas_imu_acc             eoas_imu_gyr              eoas_imu_eul             eoas_imu_mag             eoas_imu_status         </param>
-                    <param name="boardType"> strain2                  strain2                   strain2                  strain2                  strain2                 </param>
-                    <param name="location">  CAN2:13                  CAN2:13                   CAN2:13                  CAN2:13                  CAN2:13                 </param>
+                    <param name="id">          l_lower_leg_imu_acc_2    l_lower_leg_imu_gyro_2    l_lower_leg_imu_eul_2    l_lower_leg_imu_mag_2    l_lower_leg_imu_stat_2  </param>
+                    <param name="sensorName">  l_foot_ft_imu            l_foot_ft_imu             l_foot_ft_imu            l_foot_ft_imu            l_foot_ft_imu           </param>
+                    <param name="type">        eoas_imu_acc             eoas_imu_gyr              eoas_imu_eul             eoas_imu_mag             eoas_imu_status         </param>
+                    <param name="boardType">   strain2                  strain2                   strain2                  strain2                  strain2                 </param>
+                    <param name="location">    CAN2:13                  CAN2:13                   CAN2:13                  CAN2:13                  CAN2:13                 </param>
                 </group>
 
             </group>

diff --git a/iCubGenova07/icub_all.xml b/iCubGenova07/icub_all.xml
@@ -65,6 +65,14 @@
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/head-inertial.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
+
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

diff --git a/iCubGenova11/icub_all.xml b/iCubGenova11/icub_all.xml
@@ -69,7 +69,6 @@
 
     <xi:include href="hardware/inertials/waist-inertial.xml" />
 
-
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
@@ -121,4 +120,3 @@
 
     </devices>
 </robot>
-
diff --git a/iCubGenova11/icub_all_no_legs.xml b/iCubGenova11/icub_all_no_legs.xml
@@ -55,7 +55,12 @@
     <xi:include href="hardware/inertials/head-inertial.xml" />
 
     <xi:include href="hardware/inertials/waist-inertial.xml" />
-
+
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_arm-eb1-IMU.xml" />
+    <xi:include href="hardware/inertials/right_arm-eb3-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
@@ -92,4 +97,3 @@
 
     </devices>
 </robot>
-
diff --git a/iCubGenova11/icub_all_no_legs_ros2.xml b/iCubGenova11/icub_all_no_legs_ros2.xml
@@ -56,7 +56,6 @@
 
     <xi:include href="hardware/inertials/waist-inertial.xml" />
 
-
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
@@ -98,4 +97,3 @@
 
     </devices>
 </robot>
-
diff --git a/iCubGenova11/icub_all_ros2.xml b/iCubGenova11/icub_all_ros2.xml
@@ -76,7 +76,6 @@
 
     <xi:include href="hardware/inertials/waist-inertial.xml" />
 
-
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />
@@ -139,4 +138,3 @@
 
     </devices>
 </robot>
-
diff --git a/iCubLisboa01/hardware/inertials/head-inertial.xml b/iCubLisboa01/hardware/inertials/head-inertial.xml
@@ -30,18 +30,18 @@
                 </group>
 
                 <group name="SENSORS">
-                    <param name="id">           rfeimu_acc      rfeimu_gyro     rfeimu_mag      rfeimu_status    </param>
-                    <param name="sensorName">   head_imu_0      head_imu_0      head_imu_0      head_imu_0       </param>
-                    <param name="type">         eoas_imu_acc    eoas_imu_gyr    eoas_imu_mag    eoas_imu_status  </param>
-                    <param name="boardType">    rfe             rfe             rfe             rfe              </param>
-                    <param name="location">     CAN1:1          CAN1:1          CAN1:1          CAN1:1           </param>
+                    <param name="id">           rfeimu_acc      rfeimu_gyro     rfeimu_mag      rfeimu_eul      rfeimu_status    </param>
+                    <param name="sensorName">   head_imu_0      head_imu_0      head_imu_0      head_imu_0      head_imu_0       </param>
+                    <param name="type">         eoas_imu_acc    eoas_imu_gyr    eoas_imu_mag    eoas_imu_eul    eoas_imu_status  </param>
+                    <param name="boardType">    rfe             rfe             rfe             rfe             rfe              </param>
+                    <param name="location">     CAN1:1          CAN1:1          CAN1:1          CAN1:1          CAN1:1           </param>
                 </group>
 
             </group>
 
             <group name="SETTINGS">
                 <param name="acquisitionRate">      10      </param>
-                <param name="enabledSensors">       rfeimu_acc  rfeimu_gyro  rfeimu_mag  rfeimu_status </param>
+                <param name="enabledSensors">       rfeimu_acc  rfeimu_gyro  rfeimu_mag  rfeimu_eul  rfeimu_status </param>
             </group>
 
         </group>

diff --git a/iCubLisboa01/icub_all.xml b/iCubLisboa01/icub_all.xml
@@ -71,6 +71,14 @@
     <xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-inertial.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" /> -->
+
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
 
     <!-- ANALOG SENSOR MAIS -->

diff --git a/iCubPrague01/icub_all.xml b/iCubPrague01/icub_all.xml
@@ -71,6 +71,13 @@
     <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />

diff --git a/iCubShanghai01/icub_all.xml b/iCubShanghai01/icub_all.xml
@@ -71,6 +71,13 @@
     <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />

diff --git a/iCubShenzhen01/icub_all.xml b/iCubShenzhen01/icub_all.xml
@@ -65,6 +65,14 @@
     <xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/head-inertial.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
+
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
     <xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

diff --git a/iCubValparaiso01/icub_all.xml b/iCubValparaiso01/icub_all.xml
@@ -71,6 +71,13 @@
     <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />

diff --git a/iCubWaterloo01/icub_all.xml b/iCubWaterloo01/icub_all.xml
@@ -71,6 +71,13 @@
     <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />

diff --git a/iCubZagreb01/icub_all.xml b/iCubZagreb01/icub_all.xml
@@ -71,6 +71,13 @@
     <xi:include href="wrappers/inertials/waist-xsensmt-inertials_wrapper.xml" />
     <xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
 
+    <!-- FT SENSORS - IMU -->
+    <xi:include href="hardware/inertials/left_leg-eb6-IMU.xml" />
+    <xi:include href="hardware/inertials/left_leg-eb7-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb8-IMU.xml" />
+    <xi:include href="hardware/inertials/right_leg-eb9-IMU.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
+    <xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
 
     <!-- ANALOG SENSOR MAIS -->
     <xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />