diff --git a/CHANGELOG.md b/CHANGELOG.md index bcfc6723c..87d17ae7f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## [Unreleased] +### Changed +- Naming convention from `wrapper`\ `server` to `nws`\ `nwc` (https://github.com/robotology/human-dynamics-estimation/pull/367). + ## [2.9.0] - 2023-10-17 ### Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 7a54b1171..99e0891d5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -83,8 +83,8 @@ add_subdirectory(msgs) add_subdirectory(interfaces) add_subdirectory(devices) add_subdirectory(modules) -add_subdirectory(wrappers) -add_subdirectory(remappers) +add_subdirectory(servers) +add_subdirectory(clients) add_subdirectory(publishers) add_subdirectory(HumanDynamicsEstimationLibrary) diff --git a/clients/CMakeLists.txt b/clients/CMakeLists.txt new file mode 100644 index 000000000..0c8acd400 --- /dev/null +++ b/clients/CMakeLists.txt @@ -0,0 +1,7 @@ +# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) +# SPDX-License-Identifier: BSD-3-Clause + +add_subdirectory(HumanState_nwc_yarp) +add_subdirectory(HumanDynamics_nwc_yarp) +add_subdirectory(HumanWrench_nwc_yarp) +add_subdirectory(WearableTargets_nwc_yarp) diff --git a/remappers/HumanDynamicsRemapper/CMakeLists.txt b/clients/HumanDynamics_nwc_yarp/CMakeLists.txt similarity index 59% rename from remappers/HumanDynamicsRemapper/CMakeLists.txt rename to clients/HumanDynamics_nwc_yarp/CMakeLists.txt index 7412883f5..c6d346cbf 100644 --- a/remappers/HumanDynamicsRemapper/CMakeLists.txt +++ b/clients/HumanDynamics_nwc_yarp/CMakeLists.txt @@ -1,21 +1,21 @@ # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) # SPDX-License-Identifier: BSD-3-Clause -yarp_prepare_plugin(human_dynamics_remapper - TYPE hde::devices::HumanDynamicsRemapper - INCLUDE HumanDynamicsRemapper.h +yarp_prepare_plugin(human_dynamics_nwc_yarp + TYPE hde::devices::HumanDynamics_nwc_yarp + INCLUDE HumanDynamics_nwc_yarp.h CATEGORY device ADVANCED DEFAULT ON) -yarp_add_plugin(HumanDynamicsRemapper - HumanDynamicsRemapper.cpp - HumanDynamicsRemapper.h) +yarp_add_plugin(HumanDynamics_nwc_yarp + HumanDynamics_nwc_yarp.cpp + HumanDynamics_nwc_yarp.h) -target_include_directories(HumanDynamicsRemapper PUBLIC +target_include_directories(HumanDynamics_nwc_yarp PUBLIC $) -target_link_libraries(HumanDynamicsRemapper PUBLIC +target_link_libraries(HumanDynamics_nwc_yarp PUBLIC IHumanDynamics HumanDynamicsMsg YARP::YARP_OS @@ -23,7 +23,7 @@ target_link_libraries(HumanDynamicsRemapper PUBLIC YARP::YARP_init) yarp_install( - TARGETS HumanDynamicsRemapper + TARGETS HumanDynamics_nwc_yarp COMPONENT runtime LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR} ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR} diff --git a/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.cpp b/clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.cpp similarity index 81% rename from remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.cpp rename to clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.cpp index d2da39b7e..1bcbae315 100644 --- a/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.cpp +++ b/clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.cpp @@ -1,7 +1,7 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#include "HumanDynamicsRemapper.h" +#include "HumanDynamics_nwc_yarp.h" #include @@ -11,8 +11,8 @@ #include #include -const std::string RemapperName = "HumanDynamicsRemapper"; -const std::string LogPrefix = RemapperName + " :"; +const std::string ClientName = "HumanDynamics_nwc_yarp"; +const std::string LogPrefix = ClientName + " :"; using namespace hde::devices; @@ -20,7 +20,7 @@ using namespace hde::devices; // IMPL AND UTILS // ============== -class HumanDynamicsRemapper::impl +class HumanDynamics_nwc_yarp::impl { public: std::mutex mtx; @@ -34,18 +34,18 @@ class HumanDynamicsRemapper::impl }; // ======================= -// IHUMANDYNAMICS REMAPPER +// IHUMANDYNAMICS CLIENT // ======================= -HumanDynamicsRemapper::HumanDynamicsRemapper() +HumanDynamics_nwc_yarp::HumanDynamics_nwc_yarp() : PeriodicThread(1) , pImpl{new impl()} {} -HumanDynamicsRemapper::~HumanDynamicsRemapper() = default; +HumanDynamics_nwc_yarp::~HumanDynamics_nwc_yarp() = default; // parsing the configuration file and connect ports -bool HumanDynamicsRemapper::open(yarp::os::Searchable& config) +bool HumanDynamics_nwc_yarp::open(yarp::os::Searchable& config) { // =============================== // CHECK THE CONFIGURATION OPTIONS @@ -103,10 +103,10 @@ bool HumanDynamicsRemapper::open(yarp::os::Searchable& config) return true; } -void HumanDynamicsRemapper::threadRelease() +void HumanDynamics_nwc_yarp::threadRelease() {} -bool HumanDynamicsRemapper::close() +bool HumanDynamics_nwc_yarp::close() { pImpl->terminationCall = true; @@ -117,13 +117,13 @@ bool HumanDynamicsRemapper::close() return true; } -void HumanDynamicsRemapper::run() +void HumanDynamics_nwc_yarp::run() { return; } // data are read from the port and saved in buffer variables -void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData) +void HumanDynamics_nwc_yarp::onRead(hde::msgs::HumanDynamics& humanDynamicsData) { std::lock_guard lock(pImpl->mtx); if(!pImpl->terminationCall) { @@ -134,19 +134,19 @@ void HumanDynamicsRemapper::onRead(hde::msgs::HumanDynamics& humanDynamicsData) } // method of IHumanDynamics interface expose the buffer variables data -std::vector HumanDynamicsRemapper::getJointNames() const +std::vector HumanDynamics_nwc_yarp::getJointNames() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointNames; } -size_t HumanDynamicsRemapper::getNumberOfJoints() const +size_t HumanDynamics_nwc_yarp::getNumberOfJoints() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointTorques.size(); } -std::vector HumanDynamicsRemapper::getJointTorques() const +std::vector HumanDynamics_nwc_yarp::getJointTorques() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointTorques; diff --git a/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.h b/clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.h similarity index 82% rename from remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.h rename to clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.h index 755722469..6a0747c8d 100644 --- a/remappers/HumanDynamicsRemapper/HumanDynamicsRemapper.h +++ b/clients/HumanDynamics_nwc_yarp/HumanDynamics_nwc_yarp.h @@ -1,8 +1,8 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#ifndef HDE_DEVICES_HUMANDYNAMICSREMAPPER -#define HDE_DEVICES_HUMANDYNAMICSREMAPPER +#ifndef HDE_DEVICES_HUMANDYNAMICS_NEC_YARP +#define HDE_DEVICES_HUMANDYNAMICS_NEC_YARP #include @@ -17,10 +17,10 @@ namespace hde::msgs { class HumanDynamics; } // namespace hde::msgs namespace hde::devices { - class HumanDynamicsRemapper; + class HumanDynamics_nwc_yarp; } // namespace hde::devices -class hde::devices::HumanDynamicsRemapper final +class hde::devices::HumanDynamics_nwc_yarp final : public yarp::dev::DeviceDriver // inherite from the interface to be exposed , public hde::interfaces::IHumanDynamics @@ -34,8 +34,8 @@ class hde::devices::HumanDynamicsRemapper final std::unique_ptr pImpl; public: - HumanDynamicsRemapper(); - ~HumanDynamicsRemapper() override; + HumanDynamics_nwc_yarp(); + ~HumanDynamics_nwc_yarp() override; @@ -58,5 +58,5 @@ class hde::devices::HumanDynamicsRemapper final std::vector getJointTorques() const override; }; -#endif // HDE_DEVICES_HUMANDYNAMICSREMAPPER +#endif // HDE_DEVICES_HUMANDYNAMICS_NEC_YARP diff --git a/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml b/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml new file mode 100644 index 000000000..69a1b1af9 --- /dev/null +++ b/clients/HumanDynamics_nwc_yarp/conf/HumanDynamics_nwc_yarpExample.xml @@ -0,0 +1,12 @@ + + + + + + + /HDE/HumanDynamics_nws_yarp/torques:o + + + + + diff --git a/wrappers/HumanStateWrapper/CMakeLists.txt b/clients/HumanState_nwc_yarp/CMakeLists.txt similarity index 60% rename from wrappers/HumanStateWrapper/CMakeLists.txt rename to clients/HumanState_nwc_yarp/CMakeLists.txt index 2e7a5607a..2d09ba978 100644 --- a/wrappers/HumanStateWrapper/CMakeLists.txt +++ b/clients/HumanState_nwc_yarp/CMakeLists.txt @@ -1,21 +1,21 @@ # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) # SPDX-License-Identifier: BSD-3-Clause -yarp_prepare_plugin(human_state_wrapper - TYPE hde::wrappers::HumanStateWrapper - INCLUDE HumanStateWrapper.h +yarp_prepare_plugin(human_state_nwc_yarp + TYPE hde::devices::HumanState_nwc_yarp + INCLUDE HumanState_nwc_yarp.h CATEGORY device ADVANCED DEFAULT ON) -yarp_add_plugin(HumanStateWrapper - HumanStateWrapper.cpp - HumanStateWrapper.h) +yarp_add_plugin(HumanState_nwc_yarp + HumanState_nwc_yarp.cpp + HumanState_nwc_yarp.h) -target_include_directories(HumanStateWrapper PUBLIC +target_include_directories(HumanState_nwc_yarp PUBLIC $) -target_link_libraries(HumanStateWrapper PUBLIC +target_link_libraries(HumanState_nwc_yarp PUBLIC IHumanState HumanStateMsg YARP::YARP_OS @@ -23,7 +23,7 @@ target_link_libraries(HumanStateWrapper PUBLIC YARP::YARP_init) yarp_install( - TARGETS HumanStateWrapper + TARGETS HumanState_nwc_yarp COMPONENT runtime LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR} ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR} diff --git a/remappers/HumanStateRemapper/HumanStateRemapper.cpp b/clients/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp similarity index 81% rename from remappers/HumanStateRemapper/HumanStateRemapper.cpp rename to clients/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp index 0ff9a3909..807b50bea 100644 --- a/remappers/HumanStateRemapper/HumanStateRemapper.cpp +++ b/clients/HumanState_nwc_yarp/HumanState_nwc_yarp.cpp @@ -1,7 +1,7 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#include "HumanStateRemapper.h" +#include "HumanState_nwc_yarp.h" #include @@ -11,8 +11,8 @@ #include #include -const std::string RemapperName = "HumanStateRemapper"; -const std::string LogPrefix = RemapperName + " :"; +const std::string ClientName = "HumanState_nwc_yarp"; +const std::string LogPrefix = ClientName + " :"; using namespace hde::devices; @@ -20,7 +20,7 @@ using namespace hde::devices; // IMPL AND UTILS // ============== -class HumanStateRemapper::impl +class HumanState_nwc_yarp::impl { public: std::mutex mtx; @@ -44,17 +44,17 @@ class HumanStateRemapper::impl }; // ==================== -// IHUMANSTATE REMAPPER +// IHUMANSTATE CLIENT // ==================== -HumanStateRemapper::HumanStateRemapper() +HumanState_nwc_yarp::HumanState_nwc_yarp() : PeriodicThread(1) , pImpl{new impl()} {} -HumanStateRemapper::~HumanStateRemapper() = default; +HumanState_nwc_yarp::~HumanState_nwc_yarp() = default; -bool HumanStateRemapper::open(yarp::os::Searchable& config) +bool HumanState_nwc_yarp::open(yarp::os::Searchable& config) { // =============================== // CHECK THE CONFIGURATION OPTIONS @@ -111,10 +111,10 @@ bool HumanStateRemapper::open(yarp::os::Searchable& config) return true; } -void HumanStateRemapper::threadRelease() +void HumanState_nwc_yarp::threadRelease() {} -bool HumanStateRemapper::close() +bool HumanState_nwc_yarp::close() { pImpl->terminationCall = true; @@ -125,12 +125,12 @@ bool HumanStateRemapper::close() return true; } -void HumanStateRemapper::run() +void HumanState_nwc_yarp::run() { return; } -void HumanStateRemapper::onRead(hde::msgs::HumanState& humanStateData) +void HumanState_nwc_yarp::onRead(hde::msgs::HumanState& humanStateData) { std::lock_guard lock(pImpl->mtx); if(!pImpl->terminationCall) { @@ -151,61 +151,61 @@ void HumanStateRemapper::onRead(hde::msgs::HumanState& humanStateData) } } -std::vector HumanStateRemapper::getJointNames() const +std::vector HumanState_nwc_yarp::getJointNames() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointNames; } -std::string HumanStateRemapper::getBaseName() const +std::string HumanState_nwc_yarp::getBaseName() const { std::lock_guard lock(pImpl->mtx); return pImpl->baseName; } -size_t HumanStateRemapper::getNumberOfJoints() const +size_t HumanState_nwc_yarp::getNumberOfJoints() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointPositions.size(); } -std::vector HumanStateRemapper::getJointPositions() const +std::vector HumanState_nwc_yarp::getJointPositions() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointPositions; } -std::vector HumanStateRemapper::getJointVelocities() const +std::vector HumanState_nwc_yarp::getJointVelocities() const { std::lock_guard lock(pImpl->mtx); return pImpl->jointVelocities; } -std::array HumanStateRemapper::getBasePosition() const +std::array HumanState_nwc_yarp::getBasePosition() const { std::lock_guard lock(pImpl->mtx); return pImpl->basePosition; } -std::array HumanStateRemapper::getBaseOrientation() const +std::array HumanState_nwc_yarp::getBaseOrientation() const { std::lock_guard lock(pImpl->mtx); return pImpl->baseOrientation; } -std::array HumanStateRemapper::getBaseVelocity() const +std::array HumanState_nwc_yarp::getBaseVelocity() const { std::lock_guard lock(pImpl->mtx); return pImpl->baseVelocity; } -std::array HumanStateRemapper::getCoMPosition() const +std::array HumanState_nwc_yarp::getCoMPosition() const { std::lock_guard lock(pImpl->mtx); return pImpl->CoMPosition; } -std::array HumanStateRemapper::getCoMVelocity() const +std::array HumanState_nwc_yarp::getCoMVelocity() const { std::lock_guard lock(pImpl->mtx); return pImpl->CoMVelocity; diff --git a/remappers/HumanStateRemapper/HumanStateRemapper.h b/clients/HumanState_nwc_yarp/HumanState_nwc_yarp.h similarity index 86% rename from remappers/HumanStateRemapper/HumanStateRemapper.h rename to clients/HumanState_nwc_yarp/HumanState_nwc_yarp.h index 196404d16..e4228f694 100644 --- a/remappers/HumanStateRemapper/HumanStateRemapper.h +++ b/clients/HumanState_nwc_yarp/HumanState_nwc_yarp.h @@ -1,8 +1,8 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#ifndef HDE_DEVICES_HUMANSTATEREMAPPER -#define HDE_DEVICES_HUMANSTATEREMAPPER +#ifndef HDE_DEVICES_HUMANSTATE_NWC_YARP +#define HDE_DEVICES_HUMANSTATE_NWC_YARP #include @@ -17,10 +17,10 @@ namespace hde::msgs { class HumanState; } // namespace hde::msgs namespace hde::devices { - class HumanStateRemapper; + class HumanState_nwc_yarp; } // namespace hde::devices -class hde::devices::HumanStateRemapper final +class hde::devices::HumanState_nwc_yarp final : public yarp::dev::DeviceDriver , public hde::interfaces::IHumanState , public yarp::os::TypedReaderCallback @@ -31,8 +31,8 @@ class hde::devices::HumanStateRemapper final std::unique_ptr pImpl; public: - HumanStateRemapper(); - ~HumanStateRemapper() override; + HumanState_nwc_yarp(); + ~HumanState_nwc_yarp() override; std::mutex mtx; @@ -64,4 +64,4 @@ class hde::devices::HumanStateRemapper final std::array getCoMVelocity() const override; }; -#endif // HDE_DEVICES_HUMANSTATEREMAPPER +#endif // HDE_DEVICES_HUMANSTATE_NWC_YARP diff --git a/remappers/HumanWrenchRemapper/CMakeLists.txt b/clients/HumanWrench_nwc_yarp/CMakeLists.txt similarity index 60% rename from remappers/HumanWrenchRemapper/CMakeLists.txt rename to clients/HumanWrench_nwc_yarp/CMakeLists.txt index 3a02fc0c3..ede5b773d 100644 --- a/remappers/HumanWrenchRemapper/CMakeLists.txt +++ b/clients/HumanWrench_nwc_yarp/CMakeLists.txt @@ -1,21 +1,21 @@ # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) # SPDX-License-Identifier: BSD-3-Clause -yarp_prepare_plugin(human_wrench_remapper - TYPE hde::devices::HumanWrenchRemapper - INCLUDE HumanWrenchRemapper.h +yarp_prepare_plugin(human_wrench_nwc_yarp + TYPE hde::devices::HumanWrench_nwc_yarp + INCLUDE HumanWrench_nwc_yarp.h CATEGORY device ADVANCED DEFAULT ON) -yarp_add_plugin(HumanWrenchRemapper - HumanWrenchRemapper.cpp - HumanWrenchRemapper.h) +yarp_add_plugin(HumanWrench_nwc_yarp + HumanWrench_nwc_yarp.cpp + HumanWrench_nwc_yarp.h) -target_include_directories(HumanWrenchRemapper PUBLIC +target_include_directories(HumanWrench_nwc_yarp PUBLIC $) -target_link_libraries(HumanWrenchRemapper PUBLIC +target_link_libraries(HumanWrench_nwc_yarp PUBLIC IHumanWrench HumanWrenchMsg YARP::YARP_OS @@ -23,7 +23,7 @@ target_link_libraries(HumanWrenchRemapper PUBLIC YARP::YARP_init) yarp_install( - TARGETS HumanWrenchRemapper + TARGETS HumanWrench_nwc_yarp COMPONENT runtime LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR} ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR} diff --git a/remappers/HumanWrenchRemapper/HumanWrenchRemapper.cpp b/clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.cpp similarity index 81% rename from remappers/HumanWrenchRemapper/HumanWrenchRemapper.cpp rename to clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.cpp index cab6296f0..93b0e202c 100644 --- a/remappers/HumanWrenchRemapper/HumanWrenchRemapper.cpp +++ b/clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.cpp @@ -1,7 +1,7 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#include "HumanWrenchRemapper.h" +#include "HumanWrench_nwc_yarp.h" #include @@ -11,8 +11,8 @@ #include #include -const std::string RemapperName = "HumanWrenchRemapper"; -const std::string LogPrefix = RemapperName + " :"; +const std::string ClientName = "HumanWrench_nwc_yarp"; +const std::string LogPrefix = ClientName + " :"; using namespace hde::devices; @@ -20,7 +20,7 @@ using namespace hde::devices; // IMPL AND UTILS // ============== -class HumanWrenchRemapper::impl +class HumanWrench_nwc_yarp::impl { public: std::mutex mtx; @@ -34,18 +34,18 @@ class HumanWrenchRemapper::impl }; // ==================== -// HUMANWRENCH REMAPPER +// HUMANWRENCH CLIENT // ==================== -HumanWrenchRemapper::HumanWrenchRemapper() +HumanWrench_nwc_yarp::HumanWrench_nwc_yarp() : PeriodicThread(1) , pImpl{new impl()} {} -HumanWrenchRemapper::~HumanWrenchRemapper() = default; +HumanWrench_nwc_yarp::~HumanWrench_nwc_yarp() = default; // parsing the configuration file and connect ports -bool HumanWrenchRemapper::open(yarp::os::Searchable& config) +bool HumanWrench_nwc_yarp::open(yarp::os::Searchable& config) { // =============================== // CHECK THE CONFIGURATION OPTIONS @@ -103,10 +103,10 @@ bool HumanWrenchRemapper::open(yarp::os::Searchable& config) return true; } -void HumanWrenchRemapper::threadRelease() +void HumanWrench_nwc_yarp::threadRelease() {} -bool HumanWrenchRemapper::close() +bool HumanWrench_nwc_yarp::close() { pImpl->terminationCall = true; @@ -117,13 +117,13 @@ bool HumanWrenchRemapper::close() return true; } -void HumanWrenchRemapper::run() +void HumanWrench_nwc_yarp::run() { return; } // data are read from the port and saved in buffer variables -void HumanWrenchRemapper::onRead(hde::msgs::HumanWrench& humanWrenchData) +void HumanWrench_nwc_yarp::onRead(hde::msgs::HumanWrench& humanWrenchData) { std::lock_guard lock(pImpl->mtx); if(!pImpl->terminationCall) { @@ -134,19 +134,19 @@ void HumanWrenchRemapper::onRead(hde::msgs::HumanWrench& humanWrenchData) } // method of IHumanWrench interface expose the buffer variables data -std::vector HumanWrenchRemapper::getWrenchSourceNames() const +std::vector HumanWrench_nwc_yarp::getWrenchSourceNames() const { std::lock_guard lock(pImpl->mtx); return pImpl->wrenchSourceNames; } -size_t HumanWrenchRemapper::getNumberOfWrenchSources() const +size_t HumanWrench_nwc_yarp::getNumberOfWrenchSources() const { std::lock_guard lock(pImpl->mtx); return pImpl->wrenchSourceNames.size(); } -std::vector HumanWrenchRemapper::getWrenches() const +std::vector HumanWrench_nwc_yarp::getWrenches() const { std::lock_guard lock(pImpl->mtx); return pImpl->wrenches; diff --git a/remappers/HumanWrenchRemapper/HumanWrenchRemapper.h b/clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.h similarity index 83% rename from remappers/HumanWrenchRemapper/HumanWrenchRemapper.h rename to clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.h index 800db9722..234784cdb 100644 --- a/remappers/HumanWrenchRemapper/HumanWrenchRemapper.h +++ b/clients/HumanWrench_nwc_yarp/HumanWrench_nwc_yarp.h @@ -1,8 +1,8 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#ifndef HDE_DEVICES_HUMANWRENCHREMAPPER -#define HDE_DEVICES_HUMANWRENCHREMAPPER +#ifndef HDE_DEVICES_HUMANWRENCH_NWC_YARP +#define HDE_DEVICES_HUMANWRENCH_NWC_YARP #include @@ -17,10 +17,10 @@ namespace hde::msgs { class HumanWrench; } // namespace hde::msgs namespace hde::devices { - class HumanWrenchRemapper; + class HumanWrench_nwc_yarp; } // namespace hde::devices -class hde::devices::HumanWrenchRemapper final +class hde::devices::HumanWrench_nwc_yarp final : public yarp::dev::DeviceDriver // inherite from the interface to be exposed , public hde::interfaces::IHumanWrench @@ -34,8 +34,8 @@ class hde::devices::HumanWrenchRemapper final std::unique_ptr pImpl; public: - HumanWrenchRemapper(); - ~HumanWrenchRemapper() override; + HumanWrench_nwc_yarp(); + ~HumanWrench_nwc_yarp() override; @@ -58,5 +58,5 @@ class hde::devices::HumanWrenchRemapper final std::vector getWrenches() const override; }; -#endif // HDE_DEVICES_HUMANWRENCHREMAPPER +#endif // HDE_DEVICES_HUMANWRENCH_NWC_YARP diff --git a/clients/HumanWrench_nwc_yarp/conf/HumanWrenchRemapperExample.xml b/clients/HumanWrench_nwc_yarp/conf/HumanWrenchRemapperExample.xml new file mode 100644 index 000000000..a62767e2c --- /dev/null +++ b/clients/HumanWrench_nwc_yarp/conf/HumanWrenchRemapperExample.xml @@ -0,0 +1,12 @@ + + + + + + + /HDE/HumanWrench_nws_yarp/wrench:o + + + + + diff --git a/clients/HumanWrench_nwc_yarp/conf/HumanWrench_nwc_yarpExample.xml b/clients/HumanWrench_nwc_yarp/conf/HumanWrench_nwc_yarpExample.xml new file mode 100644 index 000000000..a62767e2c --- /dev/null +++ b/clients/HumanWrench_nwc_yarp/conf/HumanWrench_nwc_yarpExample.xml @@ -0,0 +1,12 @@ + + + + + + + /HDE/HumanWrench_nws_yarp/wrench:o + + + + + diff --git a/wrappers/WearableTargetsWrapper/CMakeLists.txt b/clients/WearableTargets_nwc_yarp/CMakeLists.txt similarity index 58% rename from wrappers/WearableTargetsWrapper/CMakeLists.txt rename to clients/WearableTargets_nwc_yarp/CMakeLists.txt index adb1a49d6..fd727b590 100644 --- a/wrappers/WearableTargetsWrapper/CMakeLists.txt +++ b/clients/WearableTargets_nwc_yarp/CMakeLists.txt @@ -1,21 +1,21 @@ # SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) # SPDX-License-Identifier: BSD-3-Clause -yarp_prepare_plugin(wearable_targets_wrapper - TYPE hde::wrappers::WearableTargetsWrapper - INCLUDE WearableTargetsWrapper.h +yarp_prepare_plugin(wearable_targets_nwc_yarp + TYPE hde::devices::WearableTargets_nwc_yarp + INCLUDE WearableTargets_nwc_yarp.h CATEGORY device ADVANCED DEFAULT ON) -yarp_add_plugin(WearableTargetsWrapper -WearableTargetsWrapper.cpp -WearableTargetsWrapper.h) +yarp_add_plugin(WearableTargets_nwc_yarp +WearableTargets_nwc_yarp.cpp +WearableTargets_nwc_yarp.h) -target_include_directories(WearableTargetsWrapper PUBLIC +target_include_directories(WearableTargets_nwc_yarp PUBLIC $) -target_link_libraries(WearableTargetsWrapper PUBLIC +target_link_libraries(WearableTargets_nwc_yarp PUBLIC IWearableTargets WearableTargetsMsg YARP::YARP_OS @@ -23,7 +23,7 @@ target_link_libraries(WearableTargetsWrapper PUBLIC YARP::YARP_init) yarp_install( - TARGETS WearableTargetsWrapper + TARGETS WearableTargets_nwc_yarp COMPONENT runtime LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR} ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR} diff --git a/remappers/WearableTargetsRemapper/WearableTargetsRemapper.cpp b/clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.cpp similarity index 89% rename from remappers/WearableTargetsRemapper/WearableTargetsRemapper.cpp rename to clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.cpp index 3e0f19e26..8db583cc8 100644 --- a/remappers/WearableTargetsRemapper/WearableTargetsRemapper.cpp +++ b/clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.cpp @@ -1,7 +1,7 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#include "WearableTargetsRemapper.h" +#include "WearableTargets_nwc_yarp.h" #include @@ -11,8 +11,8 @@ #include #include -const std::string RemapperName = "WearableTargetsRemapper"; -const std::string LogPrefix = RemapperName + " :"; +const std::string ClientName = "WearableTargets_nwc_yarp"; +const std::string LogPrefix = ClientName + " :"; using namespace hde::devices; @@ -56,7 +56,7 @@ iDynTree::Transform generateTransformFromMsg(const hde::msgs::Transform& input) return iDynTree::Transform(generateRotationFromMsg(input.orientation), iDynTree::Position(generateVector3FromMsg(input.position))); } -class WearableTargetsRemapper::impl +class WearableTargets_nwc_yarp::impl { public: yarp::os::Network network; @@ -70,17 +70,17 @@ class WearableTargetsRemapper::impl }; // ======================== -// WEARABLETARGETS REMAPPER +// WEARABLETARGETS CLIENT // ======================== -WearableTargetsRemapper::WearableTargetsRemapper() +WearableTargets_nwc_yarp::WearableTargets_nwc_yarp() : PeriodicThread(1) , pImpl{new impl()} {} -WearableTargetsRemapper::~WearableTargetsRemapper() = default; +WearableTargets_nwc_yarp::~WearableTargets_nwc_yarp() = default; -bool WearableTargetsRemapper::open(yarp::os::Searchable& config) +bool WearableTargets_nwc_yarp::open(yarp::os::Searchable& config) { // =============================== // CHECK THE CONFIGURATION OPTIONS @@ -137,10 +137,10 @@ bool WearableTargetsRemapper::open(yarp::os::Searchable& config) return true; } -void WearableTargetsRemapper::threadRelease() +void WearableTargets_nwc_yarp::threadRelease() {} -bool WearableTargetsRemapper::close() +bool WearableTargets_nwc_yarp::close() { pImpl->terminationCall = true; @@ -151,12 +151,12 @@ bool WearableTargetsRemapper::close() return true; } -void WearableTargetsRemapper::run() +void WearableTargets_nwc_yarp::run() { return; } -void WearableTargetsRemapper::onRead(hde::msgs::WearableTargets& wearableTargetsData) +void WearableTargets_nwc_yarp::onRead(hde::msgs::WearableTargets& wearableTargetsData) { if(!pImpl->terminationCall) { @@ -181,7 +181,7 @@ void WearableTargetsRemapper::onRead(hde::msgs::WearableTargets& wearableTargets } } -std::vector WearableTargetsRemapper::getAllTargetsName() const { +std::vector WearableTargets_nwc_yarp::getAllTargetsName() const { std::lock_guard lock(pImpl->mutex); std::vector targetsName; for (auto wearableTargetEntry : pImpl->wearableTargets) @@ -191,7 +191,7 @@ std::vector WearableTargetsRemapper::getAllTargetsName() const return targetsName; } -std::shared_ptr WearableTargetsRemapper::getTarget(const TargetName name) const { +std::shared_ptr WearableTargets_nwc_yarp::getTarget(const TargetName name) const { std::lock_guard lock(pImpl->mutex); // TODO: what to do if the target name do not exist diff --git a/remappers/WearableTargetsRemapper/WearableTargetsRemapper.h b/clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.h similarity index 80% rename from remappers/WearableTargetsRemapper/WearableTargetsRemapper.h rename to clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.h index 0459fc4f8..fbe021de9 100644 --- a/remappers/WearableTargetsRemapper/WearableTargetsRemapper.h +++ b/clients/WearableTargets_nwc_yarp/WearableTargets_nwc_yarp.h @@ -1,8 +1,8 @@ // SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT) // SPDX-License-Identifier: BSD-3-Clause -#ifndef HDE_DEVICES_WEARABLETARGETSREMAPPER -#define HDE_DEVICES_WEARABLETARGETSREMAPPER +#ifndef HDE_DEVICES_WEARABLETARGETS_NWC_YARP +#define HDE_DEVICES_WEARABLETARGETS_NWC_YARP #include @@ -17,10 +17,10 @@ namespace hde::msgs { class WearableTargets; } // namespace hde::msgs namespace hde::devices { - class WearableTargetsRemapper; + class WearableTargets_nwc_yarp; } // namespace hde::devices -class hde::devices::WearableTargetsRemapper final +class hde::devices::WearableTargets_nwc_yarp final : public yarp::dev::DeviceDriver , public hde::interfaces::IWearableTargets , public yarp::os::TypedReaderCallback @@ -31,8 +31,8 @@ class hde::devices::WearableTargetsRemapper final std::unique_ptr pImpl; public: - WearableTargetsRemapper(); - ~WearableTargetsRemapper() override; + WearableTargets_nwc_yarp(); + ~WearableTargets_nwc_yarp() override; // DeviceDriver interface bool open(yarp::os::Searchable& config) override; @@ -50,4 +50,4 @@ class hde::devices::WearableTargetsRemapper final std::shared_ptr getTarget(const TargetName name) const override; }; -#endif // HDE_DEVICES_WEARABLETARGETSREMAPPER +#endif // HDE_DEVICES_WEARABLETARGETS_NWC_YARP diff --git a/conf/app/HumanStateVisualizer.ini b/conf/app/HumanStateVisualizer.ini index 80293d0fe..851d5eaca 100644 --- a/conf/app/HumanStateVisualizer.ini +++ b/conf/app/HumanStateVisualizer.ini @@ -11,5 +11,5 @@ useFixedCamera false # if set to false, the camera follows the m fixedCameraTarget (0.0, 0.0, 0.0) # this option is unused when useFixedCamera is false maxVisualizationFPS 65 -# Remapper Configuration -humanStateDataPortName "/HDE/HumanStateWrapper/state:o" +# Client Configuration +humanStateDataPortName "/HDE/HumanStateServer/state:o" diff --git a/conf/app/HumanStateVisualizerWithDynamics.ini b/conf/app/HumanStateVisualizerWithDynamics.ini index fef597c30..f8c8a15f0 100644 --- a/conf/app/HumanStateVisualizerWithDynamics.ini +++ b/conf/app/HumanStateVisualizerWithDynamics.ini @@ -13,8 +13,8 @@ maxVisualizationFPS 65 # Wrench Data Configuration forceScalingFactor 0.001 -wrenchSourceLinks (LeftFoot RightFoot) # link order should reflect WrenchWrapper port data +wrenchSourceLinks (LeftFoot RightFoot) # link order should reflect WrenchServer port data -# Remapper Configuration -humanStateDataPortName "/HDE/HumanStateWrapper/state:o" -humanWrenchWrapperPortName "/HDE/HumanWrenchWrapper/wrench:o" +# Client Configuration +humanStateDataPortName "/HDE/HumanStateServer/state:o" +humanWrenchServerPortName "/HDE/HumanStateServer/wrench:o" diff --git a/conf/app/HumanStateVisualizer_ergoCub_openxr_ifeel.ini b/conf/app/HumanStateVisualizer_ergoCub_openxr_ifeel.ini index b4709d445..6ce164ac2 100644 --- a/conf/app/HumanStateVisualizer_ergoCub_openxr_ifeel.ini +++ b/conf/app/HumanStateVisualizer_ergoCub_openxr_ifeel.ini @@ -21,6 +21,6 @@ linksFrameScalingFactor 0.1 visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm target_l_forearm target_r_upper_arm target_r_forearm 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/app/HumanStateVisualizer_iCub2_5.ini b/conf/app/HumanStateVisualizer_iCub2_5.ini index bafd7d264..c16a43aac 100644 --- a/conf/app/HumanStateVisualizer_iCub2_5.ini +++ b/conf/app/HumanStateVisualizer_iCub2_5.ini @@ -11,5 +11,5 @@ useFixedCamera false # if set to false, the camera follows the m fixedCameraTarget (0.0, 0.0, 0.0) # this option is unused when useFixedCamera is false maxVisualizationFPS 65 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini b/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini index ebfdd2af2..053073b04 100644 --- a/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini +++ b/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini @@ -23,6 +23,6 @@ visualizedTargetsFrame ( target_RightHand target_LeftHand) # visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm_fake target_l_forearm_fake target_r_upper_arm_fake target_r_forearm_fake target_Head) targetsFrameScalingFactor 0.2 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" -wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini b/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini index 1b01cd762..4fa7c336d 100644 --- a/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini +++ b/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini @@ -21,6 +21,6 @@ linksFrameScalingFactor 0.1 visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm_fake target_l_forearm_fake target_r_upper_arm_fake target_r_forearm_fake target_Head) targetsFrameScalingFactor 0.2 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" -wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub3.ini b/conf/app/HumanStateVisualizer_iCub3.ini index 231edb141..152bdc36c 100644 --- a/conf/app/HumanStateVisualizer_iCub3.ini +++ b/conf/app/HumanStateVisualizer_iCub3.ini @@ -11,5 +11,5 @@ useFixedCamera false # if set to false, the camera follows the m fixedCameraTarget (0.0, 0.0, 0.0) # this option is unused when useFixedCamera is false maxVisualizationFPS 65 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub3_openxr.ini b/conf/app/HumanStateVisualizer_iCub3_openxr.ini index 980dbd5f6..8d6a1047c 100644 --- a/conf/app/HumanStateVisualizer_iCub3_openxr.ini +++ b/conf/app/HumanStateVisualizer_iCub3_openxr.ini @@ -21,6 +21,6 @@ linksFrameScalingFactor 0.1 visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_Head) targetsFrameScalingFactor 0.2 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" -wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub3_openxr_ifeel.ini b/conf/app/HumanStateVisualizer_iCub3_openxr_ifeel.ini index f24421ef6..216e3e584 100644 --- a/conf/app/HumanStateVisualizer_iCub3_openxr_ifeel.ini +++ b/conf/app/HumanStateVisualizer_iCub3_openxr_ifeel.ini @@ -21,6 +21,6 @@ linksFrameScalingFactor 0.1 visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm_fake target_l_forearm_fake target_r_upper_arm_fake target_r_forearm_fake target_Head) targetsFrameScalingFactor 0.2 -# Remapper Configuration -humanStateDataPortName "/iCub/RobotStateWrapper/state:o" -wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o" +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" diff --git a/conf/xml/Human.xml b/conf/xml/Human.xml index 29b5e3cdd..0f7254239 100644 --- a/conf/xml/Human.xml +++ b/conf/xml/Human.xml @@ -84,20 +84,20 @@ - + 0.02 - /HDE/HumanStateWrapper/state:o + /HDE/HumanStateServer/state:o - HumanStateProvider + HumanStateProvider - @@ -182,12 +182,12 @@ - + 0.1 - /HDE/HumanWrenchWrapper/wrench:o + /HDE/HumanWrenchServer/wrench:o - HumanWrenchProvider + HumanWrenchProvider @@ -248,12 +248,12 @@ - + 0.1 - /HDE/HumanDynamicsWrapper/torques:o + /HDE/HumanDynamicsServer/torques:o - HumanDynamicsEstimator + HumanDynamicsEstimator diff --git a/conf/xml/HumanJointTorquesYarpScope.xml b/conf/xml/HumanJointTorquesYarpScope.xml index 626d6283d..193929712 100644 --- a/conf/xml/HumanJointTorquesYarpScope.xml +++ b/conf/xml/HumanJointTorquesYarpScope.xml @@ -12,17 +12,17 @@ minval="0" maxval="0.001" bgcolor="white"> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /HDE/HumanStateWrapper/state:o + + /HDE/HumanStateServer/state:o - - /HDE/HumanDynamicsWrapper/torques:o + + /HDE/HumanDynamicsServer/torques:o @@ -31,8 +31,8 @@ - HumanStateRemapper - HumanDynamicsRemapper + HumanState_nwc_yarp + HumanDynamics_nwc_yarp diff --git a/conf/xml/HumanStateProvider.xml b/conf/xml/HumanStateProvider.xml index 1e6d3cb31..8149fdf74 100644 --- a/conf/xml/HumanStateProvider.xml +++ b/conf/xml/HumanStateProvider.xml @@ -119,12 +119,12 @@ - + 0.02 - /HDE/HumanStateWrapper/state:o + /HDE/HumanStateServer/state:o - HumanStateProvider + HumanStateProvider diff --git a/conf/xml/HumanStateProvider_second.xml b/conf/xml/HumanStateProvider_second.xml index 5d439ac30..fdba328c8 100755 --- a/conf/xml/HumanStateProvider_second.xml +++ b/conf/xml/HumanStateProvider_second.xml @@ -80,12 +80,12 @@ - diff --git a/conf/xml/RobotPositionController_iCub2_5.xml b/conf/xml/RobotPositionController_iCub2_5.xml index 0b54f74c2..bd70674d7 100644 --- a/conf/xml/RobotPositionController_iCub2_5.xml +++ b/conf/xml/RobotPositionController_iCub2_5.xml @@ -4,7 +4,7 @@ - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o diff --git a/conf/xml/RobotStateProvider_Atlas.xml b/conf/xml/RobotStateProvider_Atlas.xml index 132cc4b14..6e4b2fe36 100644 --- a/conf/xml/RobotStateProvider_Atlas.xml +++ b/conf/xml/RobotStateProvider_Atlas.xml @@ -112,12 +112,12 @@ - + 0.01 - /Atlas/RobotStateWrapper/state:o + /Atlas/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_Baxter.xml b/conf/xml/RobotStateProvider_Baxter.xml index eaee8d6be..0e185520d 100644 --- a/conf/xml/RobotStateProvider_Baxter.xml +++ b/conf/xml/RobotStateProvider_Baxter.xml @@ -105,12 +105,12 @@ - + 0.01 - /Baxter/RobotStateWrapper/state:o + /Baxter/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_Human.xml b/conf/xml/RobotStateProvider_Human.xml index fb560e84e..149c39fad 100644 --- a/conf/xml/RobotStateProvider_Human.xml +++ b/conf/xml/RobotStateProvider_Human.xml @@ -121,12 +121,12 @@ - - + 0.01 - /HDE/RobotStateWrapper/state:o + /HDE/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml index 11ca7325d..3f3a5a737 100644 --- a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml @@ -177,23 +177,23 @@ - + 0.01 - /ergoCub/RobotStateWrapper/state:o + /ergoCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider - + 0.01 - /HDE/WearableTargetsWrapper/state:o + /HDE/WearableTargetsServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub2_5.xml b/conf/xml/RobotStateProvider_iCub2_5.xml index ede872d5f..c323adb0e 100644 --- a/conf/xml/RobotStateProvider_iCub2_5.xml +++ b/conf/xml/RobotStateProvider_iCub2_5.xml @@ -109,12 +109,12 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub2_5_Pole.xml b/conf/xml/RobotStateProvider_iCub2_5_Pole.xml index f1237f4b9..29e165d8f 100644 --- a/conf/xml/RobotStateProvider_iCub2_5_Pole.xml +++ b/conf/xml/RobotStateProvider_iCub2_5_Pole.xml @@ -111,12 +111,12 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub2_5_openxr.xml b/conf/xml/RobotStateProvider_iCub2_5_openxr.xml index 6bfd2df4c..f7bdc30a7 100644 --- a/conf/xml/RobotStateProvider_iCub2_5_openxr.xml +++ b/conf/xml/RobotStateProvider_iCub2_5_openxr.xml @@ -148,23 +148,23 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider - + 0.01 - /HDE/WearableTargetsWrapper/state:o + /HDE/WearableTargetsServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml index 7a5d552bf..d86daeef4 100644 --- a/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml +++ b/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml @@ -155,23 +155,23 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider - + 0.01 - /HDE/WearableTargetsWrapper/state:o + /HDE/WearableTargetsServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub3.xml b/conf/xml/RobotStateProvider_iCub3.xml index fcf6b7dbe..b730fcf75 100644 --- a/conf/xml/RobotStateProvider_iCub3.xml +++ b/conf/xml/RobotStateProvider_iCub3.xml @@ -100,12 +100,12 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub3_Pole.xml b/conf/xml/RobotStateProvider_iCub3_Pole.xml index 3428d4e34..a631c0480 100644 --- a/conf/xml/RobotStateProvider_iCub3_Pole.xml +++ b/conf/xml/RobotStateProvider_iCub3_Pole.xml @@ -97,12 +97,12 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub3_Xsens_SenseGlove.xml b/conf/xml/RobotStateProvider_iCub3_Xsens_SenseGlove.xml index fd77e4161..db008193c 100644 --- a/conf/xml/RobotStateProvider_iCub3_Xsens_SenseGlove.xml +++ b/conf/xml/RobotStateProvider_iCub3_Xsens_SenseGlove.xml @@ -97,12 +97,12 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub3_openxr.xml b/conf/xml/RobotStateProvider_iCub3_openxr.xml index 4401499a9..92a79e9c6 100644 --- a/conf/xml/RobotStateProvider_iCub3_openxr.xml +++ b/conf/xml/RobotStateProvider_iCub3_openxr.xml @@ -162,23 +162,23 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider - + 0.01 - /HDE/WearableTargetsWrapper/state:o + /HDE/WearableTargetsServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml index 66422111c..aac759bcd 100644 --- a/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml +++ b/conf/xml/RobotStateProvider_iCub3_openxr_ifeel.xml @@ -171,23 +171,23 @@ - + 0.01 - /iCub/RobotStateWrapper/state:o + /iCub/RobotStateServer/state:o - RobotStateProvider + RobotStateProvider - + 0.01 - /HDE/WearableTargetsWrapper/state:o + /HDE/WearableTargetsServer/state:o - RobotStateProvider + RobotStateProvider diff --git a/conf/xml/WholeBodyRetargeting.xml b/conf/xml/WholeBodyRetargeting.xml index 833a2c674..68e728d0b 100644 --- a/conf/xml/WholeBodyRetargeting.xml +++ b/conf/xml/WholeBodyRetargeting.xml @@ -117,12 +117,12 @@ - - -