Fixed use of wrappers in ergoCub files not using iFeel

robotology · May 27, 2024 · 9d680e3 · 9d680e3
1 parent bccec12
commit 9d680e3
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Showing 4 changed files with 22 additions and 22 deletions.
diff --git a/conf/app/HumanStateVisualizer_ergoCub_openxr.ini b/conf/app/HumanStateVisualizer_ergoCub_openxr.ini
@@ -14,13 +14,13 @@ fixedCameraTarget    (0.0, 0.0, 0.0) # this option is unused when useFixedCamera
 maxVisualizationFPS  65
 
 # Link visualization option
-visualizedLinksFrame (r_hand_palm l_hand_palm root_link head) 
+visualizedLinksFrame (r_hand_palm l_hand_palm root_link head)
 linksFrameScalingFactor   0.1
 
 # Targets visualization option
 visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_Head)
 targetsFrameScalingFactor  0.2
 
-# Remapper Configuration
-humanStateDataPortName "/ergoCub/RobotStateWrapper/state:o"
-wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o"
+# Client Configuration
+humanStateDataPortName "/ergoCub/RobotStateServer/state:o"
+wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o"
diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr.xml b/conf/xml/RobotStateProvider_ergoCub_openxr.xml
@@ -155,23 +155,23 @@
     </device>
 
     <!-- Uncomment to stream the output of HumanStateProvider on a YARP port -->
-    <device type="human_state_wrapper" name="RobotStateWrapper">
+    <device type="human_state_nws_yarp" name="RobotState_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/ergoCub/RobotStateWrapper/state:o</param>
+        <param name="outputPort">/ergoCub/RobotStateServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="wearable_targets_wrapper" name="WearableTargetsWrapper">
+    <device type="wearable_targets_nws_yarp" name="WearableTargets_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/HDE/WearableTargetsWrapper/state:o</param>
+        <param name="outputPort">/HDE/WearableTargetsServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml
@@ -155,23 +155,23 @@
     </device>
 
     <!-- Uncomment to stream the output of HumanStateProvider on a YARP port -->
-    <device type="human_state_wrapper" name="RobotStateWrapper">
+    <device type="human_state_nws_yarp" name="RobotState_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/ergoCub/RobotStateWrapper/state:o</param>
+        <param name="outputPort">/ergoCub/RobotStateServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="wearable_targets_wrapper" name="WearableTargetsWrapper">
+    <device type="wearable_targets_nws_yarp" name="WearableTargets_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/HDE/WearableTargetsWrapper/state:o</param>
+        <param name="outputPort">/HDE/WearableTargetsServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml
@@ -167,23 +167,23 @@
     </device>
 
     <!-- Uncomment to stream the output of HumanStateProvider on a YARP port -->
-    <device type="human_state_wrapper" name="RobotStateWrapper">
+    <device type="human_state_nws_yarp" name="RobotState_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/ergoCub/RobotStateWrapper/state:o</param>
+        <param name="outputPort">/ergoCub/RobotStateServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>
     </device>
 
-    <device type="wearable_targets_wrapper" name="WearableTargetsWrapper">
+    <device type="wearable_targets_nws_yarp" name="WearableTargets_nws_yarp">
         <param name="period">0.01</param>
-        <param name="outputPort">/HDE/WearableTargetsWrapper/state:o</param>
+        <param name="outputPort">/HDE/WearableTargetsServer/state:o</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
-                <elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
+                <elem name="HumanStateServerLabel">RobotStateProvider</elem>
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>