From 41ef2560d1d8717a656f58d4248650340787cc07 Mon Sep 17 00:00:00 2001
From: Lorenzo Rapetti <lor.rapetti@gmail.com>
Date: Thu, 22 Sep 2022 17:53:57 +0200
Subject: [PATCH 1/2] Add missing parameter to Human.xml configuration

---
 conf/xml/Human.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/conf/xml/Human.xml b/conf/xml/Human.xml
index 3d1d5f80d..055ce97f9 100644
--- a/conf/xml/Human.xml
+++ b/conf/xml/Human.xml
@@ -129,6 +129,7 @@
         <param name="human_urdf">humanSubject03_66dof.urdf</param>
         <param name="pHRIScenario">false</param>
         <param name="sources">(FTShoeLeft FTShoeRight)</param>
+	<param name="base_name">Pelvis</param>
         <group name="FTShoeLeft">
             <param name="sensorName">FTShoeLeftFTSensors</param>
             <param name="outputFrame">LeftFoot</param>

From 973f4b045212c414b4de0b8cdd719303576b5f0e Mon Sep 17 00:00:00 2001
From: Lorenzo Rapetti <lor.rapetti@gmail.com>
Date: Fri, 23 Sep 2022 09:16:45 +0200
Subject: [PATCH 2/2] Attach human_wrench_provider to HumanStateProvider in
 configuration file

---
 conf/xml/Human.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/conf/xml/Human.xml b/conf/xml/Human.xml
index 055ce97f9..73af36a7a 100644
--- a/conf/xml/Human.xml
+++ b/conf/xml/Human.xml
@@ -181,6 +181,7 @@
         </group>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
+		 <elem name="HumanStateProviderLabel">HumanStateProvider</elem>
                  <elem name="HumanWrenchProviderLabelFTShoeLeft">FTSourcesIWearRemapper</elem>
             </paramlist>
         </action>