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icub2_5: Add alljoints-inertials_wrapper/remapper (#264)
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17 changes: 17 additions & 0 deletions
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simmechanics/data/icub2_5/conf/wrappers/inertials/alljoints-inertials_remapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!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"> | ||
| <param name="OrientationSensorsNames"> | ||
| (l_arm_ft r_arm_ft head_imu_0) | ||
| </param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="head_imu"> head_inertial_hardware_device </elem> | ||
| <elem name="left_arm_imu"> left_arm_inertial_hardware_device </elem> | ||
| <elem name="right_arm_imu"> right_arm_inertial_hardware_device </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="20" type="detach" /> | ||
| </device> |
15 changes: 15 additions & 0 deletions
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simmechanics/data/icub2_5/conf/wrappers/inertials/alljoints-inertials_wrapper.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!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"> | ||
| <param name="period"> 10 </param> | ||
| <param name="name"> ${portprefix}/alljoints/inertials </param> | ||
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| <action phase="startup" level="10" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="FirstStrain"> alljoints-inertials_remapper </elem> | ||
| </paramlist> | ||
| </action> | ||
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| <action phase="shutdown" level="15" type="detach" /> | ||
| </device> |