wearable_data_ports ( "/iFeelSuit/WearableData/data:o")

# the list of fixed frames to add and to visualize
new_fixed_frames ("InertialFrame")

# the list of frames from the wearable data links
link_names_wearables ( "iFeelSuit::vLink::Node#4","iFeelSuit::vLink::Node#5","iFeelSuit::vLink::Node#7","iFeelSuit::vLink::Node#8")

# position and quaternion should be given in case of new fixed frames. for wearable data they are streamed, so the fields should be empty
# ( child, parent, frame Size , position, quaternion (rotation))
# The root frame (inertial frame has no parent, and has zero and identity position and rotation)
# To find the fixed frame rotation quaternion, check this website: https://www.andre-gaschler.com/rotationconverter/
# position (x, y, z) Quaternion (w, x, y, z)
frames_map  ( ( "InertialFrame", "", 1.0 ,(), () ),
            ( "iFeelSuit::vLink::Node#4", "InertialFrame", 0.2 , (-2, 0.0, 0.0), () ),
             ( "iFeelSuit::vLink::Node#5", "InertialFrame", 0.2 , (-1, 0.0, 0.0), () ),
             ( "iFeelSuit::vLink::Node#7", "InertialFrame", 0.2 , (1, 0.0, 0.0), () ),
             ( "iFeelSuit::vLink::Node#8", "InertialFrame", 0.2 , (2, 0.0, 0.0), () ))