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icub2_5: Add alljoints-inertials_wrapper/remapper #264

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Mar 14, 2024
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icub2_5: Add alljoints-inertials_wrapper/remapper #264

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2 changes: 2 additions & 0 deletions simmechanics/data/icub2_5/conf/icub.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/left_arm-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/right_arm-inertials_wrapper.xml" />
<xi:include href="wrappers/inertials/alljoints-inertials_remapper.xml" />
<xi:include href="wrappers/inertials/alljoints-inertials_wrapper.xml" />
<!-- NOT USED RIGHT NOW
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" /> -->
</devices>
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17 changes: 17 additions & 0 deletions 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">

<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>

<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions 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">

<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>

<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="FirstStrain"> alljoints-inertials_remapper </elem>
</paramlist>
</action>

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