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Add alljoints-inertials_wrapper/remapper to expose IMU orientation measurements #632

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merged 5 commits into from
Mar 22, 2024
Merged

Add alljoints-inertials_wrapper/remapper to expose IMU orientation measurements #632

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c55aefb
Add alljoints-inertials wrapper/remapper
martinaxgloria Mar 22, 2024
c5d37d3
Fix typo
martinaxgloria Mar 22, 2024
872d75d
Change remapper attach level to 5
martinaxgloria Mar 22, 2024
733f0b7
Decrease nws detach level to 15
martinaxgloria Mar 22, 2024
354770c
Add waist_imu + fix foot FT names
martinaxgloria Mar 22, 2024
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23 changes: 23 additions & 0 deletions ergoCubSN000/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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_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">
<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-inertial </elem>
<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
<elem name="waist_imu"> waist_inertial </elem>
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions ergoCubSN000/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
23 changes: 23 additions & 0 deletions ergoCubSN001/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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_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">
<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-inertial </elem>
<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
<elem name="waist_imu"> waist_inertial </elem>
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions ergoCubSN001/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
23 changes: 23 additions & 0 deletions ergoCubSN002/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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_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">
<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-inertial </elem>
<elem name="r_foot_imu"> right_leg-eb7-j4_5-inertial </elem>
<elem name="waist_imu"> waist_inertial </elem>
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
</device>
15 changes: 15 additions & 0 deletions ergoCubSN002/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubGenova07/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubGenova07/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
2 changes: 1 addition & 1 deletion iCubGenova11/wrappers/inertials/alljoints-inertials_remapper.xml
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Expand Up @@ -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>
Expand Down
2 changes: 1 addition & 1 deletion iCubGenova11/wrappers/inertials/alljoints-inertials_wrapper.xml
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Expand Up @@ -11,5 +11,5 @@
</paramlist>
</action>

<action phase="shutdown" level="20" type="detach" />
<action phase="shutdown" level="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubLisboa01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubLisboa01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubPrague01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubPrague01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubShanghai01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubShanghai01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubShenzhen01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubShenzhen01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubValparaiso01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubValparaiso01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
20 changes: 20 additions & 0 deletions iCubWaterloo01/wrappers/inertials/alljoints-inertials_remapper.xml
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<?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="5" 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>
15 changes: 15 additions & 0 deletions iCubWaterloo01/wrappers/inertials/alljoints-inertials_wrapper.xml
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<?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="15" type="detach" />
</device>
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