Add explicit period parameter(0.01 s) for the controlboard_nws_yarp (r…

…obotology#379)
ami-iit · Sep 1, 2022 · 5a8d3dd · 5a8d3dd
1 parent a67763a
commit 5a8d3dd
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Showing 306 changed files with 537 additions and 231 deletions.
diff --git a/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/face-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="face-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/face   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  face-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_leg-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/left_shoulder-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_shoulder-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/right_shoulder-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_shoulder-mc_remapper </param>

diff --git a/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml b/ergoCubSN000/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/torso </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso-mc_remapper </param>

diff --git a/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_wrapper.xml b/experimentalSetups/5-setup/wrappers/motorControl/5-setup-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="5-setup-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/5-setup </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> 5-setup-mc_remapper </param>

diff --git a/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/lego_setup_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml
@@ -3,6 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wrist-mc_wrapper" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
         <param name="name"> /nfa/wrist_mc </param>
         <action phase="startup" level="10" type="attach">
             <param name="device"> wrist-mc_remapper </param>

diff --git a/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/lego_setup_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml
@@ -3,6 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wrist-mc_wrapper" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
         <param name="name"> /nfa/wrist_mc </param>
         <action phase="startup" level="10" type="attach">
             <param name="device"> wrist-mc_remapper </param>

diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml
@@ -3,6 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="wrist-mc_wrapper" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
         <param name="name"> /nfa/wrist_mc </param>
         <action phase="startup" level="10" type="attach">
             <param name="device"> wrist-mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/head-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head_mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm_mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_leg_mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm_mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg_mc_remapper </param>

diff --git a/iCubAberystwyth01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubAberystwyth01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="torso_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/torso </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso_mc_remapper </param>

diff --git a/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml b/iCubAbuDhabi01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/head-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_leg_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg_mc_remapper </param>

diff --git a/iCubAnkara01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubAnkara01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="torso_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/torso </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/head-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_leg_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_leg_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg_mc_remapper </param>

diff --git a/iCubBarcelona01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubBarcelona01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="torso_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/torso </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso_mc_remapper </param>

diff --git a/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head-mc_remapper </param>

diff --git a/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubChemnitz01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_leg-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_arm-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/right_leg </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg-mc_remapper </param>

diff --git a/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml b/iCubDarmstadt01/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/torso </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso-mc_remapper </param>

diff --git a/iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/head-mc_wrapper.xml
@@ -2,6 +2,7 @@
 <!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="head_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/head   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  head_mc_remapper </param>

diff --git a/iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubDijon01/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,7 +1,8 @@
 <?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="left_arm_mc_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.01  </param>
     <param name="name"> /icub/left_arm </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> left_arm_mc_remapper </param>