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martinaxgloriamartinaxgloria
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Add alljoints-inertials_wrapper/remapper to expose IMU orientation measurements (#632)
1 parent 2ec40fb commit f594039

24 files changed

+396
-2
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‎ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
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<param name="OrientationSensorsNames">
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(head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0)
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</param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="head_imu"> head-inertial </elem>
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<elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
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<elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
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<elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
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<elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
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<elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
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<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
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<elem name="waist_imu"> waist_inertial </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="20" type="detach" />
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</device>

‎ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
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<param name="name"> /${portprefix}/alljoints/inertials </param>
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
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<param name="OrientationSensorsNames">
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(head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0)
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</param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="head_imu"> head-inertial </elem>
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<elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
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<elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
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<elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
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<elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
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<elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
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<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
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<elem name="waist_imu"> waist_inertial </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="20" type="detach" />
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</device>

‎ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
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<param name="name"> /${portprefix}/alljoints/inertials </param>
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
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<param name="OrientationSensorsNames">
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(head_imu_0 l_arm_ft l_leg_ft l_foot_rear_ft l_foot_front_ft r_arm_ft r_leg_ft r_foot_rear_ft r_foot_front_ft waist_imu_0)
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</param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="head_imu"> head-inertial </elem>
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<elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
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<elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
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<elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
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<elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
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<elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
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<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
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<elem name="waist_imu"> waist_inertial </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="20" type="detach" />
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</device>

‎ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
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<param name="name"> /${portprefix}/alljoints/inertials </param>
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
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<param name="OrientationSensorsNames">
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(head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
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</param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="head_imu"> head-inertial </elem>
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<elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
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<elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
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<elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
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<elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="20" type="detach" />
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</device>

‎iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_wrapper" type="multipleanalogsensorsserver">
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<param name="period"> 10 </param>
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<param name="name"> /${portprefix}/alljoints/inertials </param>
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<action phase="startup" level="15" type="attach">
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<paramlist name="networks">
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<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="15" type="detach" />
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</device>

‎iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml

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<param name="OrientationSensorsNames">
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(l_arm_ft r_arm_ft head_imu_0)
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</param>
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<action phase="startup" level="10" type="attach">
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="head_imu"> head-inertial </elem>
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<elem name="left_arm_imu"> left_arm-eb1-imu </elem>

‎iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml

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</paramlist>
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</action>
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<action phase="shutdown" level="20" type="detach" />
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<action phase="shutdown" level="15" type="detach" />
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</device>

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