From c55aefb83b9743ed4bd26b6299e20178ed5e8fbb Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Fri, 22 Mar 2024 09:58:38 +0100
Subject: [PATCH 1/5] Add alljoints-inertials wrapper/remapper

---
 .../alljoints-inertials_remapper.xml          | 22 +++++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 22 +++++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 22 +++++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 .../alljoints-inertials_remapper.xml          | 20 +++++++++++++++++
 .../inertials/alljoints-inertials_wrapper.xml | 15 +++++++++++++
 22 files changed, 391 insertions(+)
 create mode 100644 ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
 create mode 100644 iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
 create mode 100644 iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml

diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..4fb7904cfe
--- /dev/null
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,22 @@
+<?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">
+            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
+                <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
+                <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
+                <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..4fb7904cfe
--- /dev/null
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,22 @@
+<?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">
+            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
+                <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
+                <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
+                <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..4fb7904cfe
--- /dev/null
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,22 @@
+<?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">
+            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
+                <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
+                <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
+                <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>
diff --git a/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
new file mode 100644
index 0000000000..7827c3af24
--- /dev/null
+++ b/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -0,0 +1,20 @@
+<?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">
+            (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
+        </param>
+        <action phase="startup" level="10" type="attach">
+            <paramlist name="networks">
+                <elem name="head_imu">  head-inertial </elem>
+                <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
+                <elem name="l_lower_leg_imu"> left_leg-eb7-imu </elem>
+                <elem name="r_upper_leg_imu"> right_leg-eb8-imu </elem>
+                <elem name="r_lower_leg_imu"> right_leg-eb9-imu </elem>
+            </paramlist>
+        </action>
+
+        <action phase="shutdown" level="20" type="detach" />
+    </device>
diff --git a/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
new file mode 100644
index 0000000000..0668145a89
--- /dev/null
+++ b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -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="15" type="attach">
+        <paramlist name="networks">
+            <elem name="FirstStrain"> alljoints-inertials_remapper </elem>
+        </paramlist>
+       </action>
+
+    <action phase="shutdown" level="20" type="detach" />
+</device>

From c5d37d3b253fd9fa3acf77997a3108bf438515dd Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Fri, 22 Mar 2024 11:13:41 +0100
Subject: [PATCH 2/5] Fix typo

---
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
index 4fb7904cfe..b4847728ea 100644
--- a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -13,7 +13,7 @@
                 <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
                 <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
-                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
             </paramlist>
         </action>
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
index 4fb7904cfe..b4847728ea 100644
--- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -13,7 +13,7 @@
                 <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
                 <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
-                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
             </paramlist>
         </action>
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
index 4fb7904cfe..b4847728ea 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -13,7 +13,7 @@
                 <elem name="l_leg_imu"> left_leg-eb8-j0_3-inertial </elem>
                 <elem name="l_foot_imu"> left_leg-eb9-j4_5-inertial </elem>
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
-                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertia </elem>
+                <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
             </paramlist>
         </action>

From 872d75dd38a0a97b10d20cba761fe37224a291a0 Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Fri, 22 Mar 2024 11:46:15 +0100
Subject: [PATCH 3/5] Change remapper attach level to 5

---
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 .../wrappers/inertials/alljoints-inertials_remapper.xml         | 2 +-
 12 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
index b4847728ea..08cac9a63d 100644
--- a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
index b4847728ea..08cac9a63d 100644
--- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
index b4847728ea..08cac9a63d 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_arm_imu"> left_arm-eb2-j0_1-inertial </elem>
diff --git a/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml
index 54b0b3a33f..4631cb235a 100644
--- a/iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (l_arm_ft r_arm_ft head_imu_0)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="left_arm_imu">  left_arm-eb1-imu </elem>
diff --git a/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>
diff --git a/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml b/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
index 7827c3af24..471bdb4695 100644
--- a/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/iCubZagreb01/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -6,7 +6,7 @@
         <param name="OrientationSensorsNames">
             (head_imu_0 l_leg_ft l_foot_ft r_leg_ft r_foot_ft)
         </param>
-        <action phase="startup" level="10" type="attach">
+        <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="head_imu">  head-inertial </elem>
                 <elem name="l_upper_leg_imu"> left_leg-eb6-imu </elem>

From 733f0b725f12fb2a8b3695a14c2c435b4fd3d7b9 Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Fri, 22 Mar 2024 16:24:19 +0100
Subject: [PATCH 4/5] Decrease nws detach level to 15

---
 ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 .../wrappers/inertials/alljoints-inertials_wrapper.xml          | 2 +-
 .../wrappers/inertials/alljoints-inertials_wrapper.xml          | 2 +-
 .../wrappers/inertials/alljoints-inertials_wrapper.xml          | 2 +-
 .../wrappers/inertials/alljoints-inertials_wrapper.xml          | 2 +-
 iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml | 2 +-
 12 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>
diff --git a/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
index 0668145a89..06d0df0900 100644
--- a/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
+++ b/iCubZagreb01/wrappers/inertials/alljoints-inertials_wrapper.xml
@@ -11,5 +11,5 @@
         </paramlist>
        </action>
 
-    <action phase="shutdown" level="20" type="detach" />
+    <action phase="shutdown" level="15" type="detach" />
 </device>

From 354770cce42819237ab46dec98d02f5dab82007a Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Fri, 22 Mar 2024 16:25:12 +0100
Subject: [PATCH 5/5] Add waist_imu + fix foot FT names

---
 .../wrappers/inertials/alljoints-inertials_remapper.xml        | 3 ++-
 .../wrappers/inertials/alljoints-inertials_remapper.xml        | 3 ++-
 .../wrappers/inertials/alljoints-inertials_remapper.xml        | 3 ++-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
index 08cac9a63d..c5dd92927c 100644
--- a/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
         <param name="OrientationSensorsNames">
-            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+            (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)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
@@ -15,6 +15,7 @@
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
                 <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+                <elem name="waist_imu"> waist_inertial </elem>
             </paramlist>
         </action>
 
diff --git a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
index 08cac9a63d..c5dd92927c 100644
--- a/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
         <param name="OrientationSensorsNames">
-            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+            (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)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
@@ -15,6 +15,7 @@
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
                 <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+                <elem name="waist_imu"> waist_inertial </elem>
             </paramlist>
         </action>
 
diff --git a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
index 08cac9a63d..c5dd92927c 100644
--- a/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
+++ b/ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
@@ -4,7 +4,7 @@
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-inertials_remapper" type="multipleanalogsensorsremapper">
         <param name="OrientationSensorsNames">
-            (head_imu_0 l_arm_ft l_leg_ft l_foot_ft r_arm_ft r_leg_ft r_foot_ft)
+            (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)
         </param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
@@ -15,6 +15,7 @@
                 <elem name="r_arm_imu"> right_arm-eb1-j0_1-inertial </elem>
                 <elem name="r_leg_imu"> right_leg-eb6-j0_3-inertial </elem>
                 <elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
+                <elem name="waist_imu"> waist_inertial </elem>
             </paramlist>
         </action>