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Fixed use of wrappers in ergoCub files not using iFeel #390

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merged 1 commit into from
May 27, 2024
Merged

Fixed use of wrappers in ergoCub files not using iFeel #390

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8 changes: 4 additions & 4 deletions conf/app/HumanStateVisualizer_ergoCub_openxr.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
12 changes: 6 additions & 6 deletions conf/xml/RobotStateProvider_ergoCub_openxr.xml
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Expand Up @@ -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"/>
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12 changes: 6 additions & 6 deletions conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml
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Expand Up @@ -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"/>
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12 changes: 6 additions & 6 deletions conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down
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