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Port inertial wrappers analogServer to MASserver
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@Nicogene
Nicogene committed Jul 12, 2023
1 parent 9516e9e commit f9998e3
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Showing 131 changed files with 110 additions and 2,411 deletions.
4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenova02-VelCtrl/wrappers/inertials/right_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/inertials/right_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3-VelCtrl/wrappers/skin/torso_inertial_wrapper.xml
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<!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_inertialGYROwrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_inertialGYROwrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/torso/inertialGYRO </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3/wrappers/inertials/right_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions experimentalSetups/iCubGenovaV3/wrappers/skin/torso_inertial_wrapper.xml
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<!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_inertialGYROwrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_inertialGYROwrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/torso/inertialGYRO </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
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4 changes: 2 additions & 2 deletions iCubEdinburgh01/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions iCubEdinburgh01/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubEdinburgh01/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubEdinburgh01/wrappers/inertials/right_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli01/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli01/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli01/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli01/wrappers/inertials/right_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli01/wrappers/inertials/torso-inertial_wrapper.xml
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<!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_skin_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_skin_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/torso/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding emsX file -->
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli02/wrappers/inertials/left_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
4 changes: 2 additions & 2 deletions iCubErzelli02/wrappers/inertials/left_leg-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/left_leg/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
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4 changes: 2 additions & 2 deletions iCubErzelli02/wrappers/inertials/right_arm-inertials_wrapper.xml
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<!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-inertials_wrapper" type="analogServer">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-inertials_wrapper" type="multipleanalogsensorsserver">
<param name="period"> 10 </param>
<param name="name"> /icub/right_hand/inertialMTB </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The name of the element can be any string (we use SetOfInertials to better express its nature).
Expand Down
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