/
ppsAndReactControl_icub_redBall.xml
177 lines (153 loc) · 4.87 KB
/
ppsAndReactControl_icub_redBall.xml
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<application>
<name>PPS_and_reactCtrl_with_redBall</name>
<dependencies>
</dependencies>
<module>
<name>reactController</name>
<parameters>--referenceGen minJerk --additionalControlPoints off --stiff off</parameters>
<node>icub22</node>
<stdio></stdio>
<tag>reactController</tag>
</module>
<module>
<name>skinEventsAggregator</name>
<parameters>general::robot icub</parameters>
<node>icub21</node>
<stdio></stdio>
<tag>skinEventsAggreg</tag>
</module>
<module>
<name>ppsAggregEventsForiCubGui</name>
<parameters></parameters>
<node>icub21</node>
<stdio></stdio>
<tag>aggregEvForiCubGui</tag>
</module>
<module>
<name>pf3dTracker</name>
<!-- <parameters>--from fluoBall.ini</parameters>-->
<node>icub21</node>
<tag>PF3DTracker</tag>
</module>
<module>
<name>visuoTactileWrapper</name>
<parameters>--noDoubleTouch</parameters>
<node>icub21</node>
<stdio></stdio>
</module>
<module>
<name>visuoTactileRF</name>
<parameters>--taxelsFile taxelsFiles/taxels1D_45cmRF_skinV2_perfect_all.ini --rate 20</parameters>
<node>icub21</node>
<stdio></stdio>
</module>
<module>
<name>yarpview</name>
<!-- <parameters>--name /PF3DT_viewer --RefreshTime 33 --x 2000 --y 750 --w 320 --h 260 --compact</parameters>-->
<parameters>--name /PF3DT_viewer --p 20 --x 950 --y 360 --w 320 --h 260 --compact</parameters>
<node>icub22</node>
<tag>PF3DTracker_viewer</tag>
</module>
<!--module>
<name></name>
<parameters></parameters>
<node>localhost</node>
<stdio></stdio>
<tag></tag>
</module-->
<connection>
<from>/reactController/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinManager/skin_events:o</from>
<to>/skinEventsAggregator/skin_events:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/reactController/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/reactController/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinEventsAggregator/skin_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/skin_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/pps_events_aggreg:o</from>
<to>/ppsAggregEventsForiCubGui/pps_events_aggreg:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/ppsAggregEventsForiCubGui/contacts:o</from>
<to>/iCubGui/forces</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/skinManager/skin_events:o</from>
<to>/visuoTactileRF/skin_events:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/pf3dTracker/video:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/video:o</from>
<to>/PF3DT_viewer</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/pf3dTracker/data:o</from>
<to>/visuoTactileWrapper/pf3dTracker:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileWrapper/gui:o</from>
<to>/iCubGui/objects</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/icub/camcalib/left/out</from>
<to>/visuoTactileRF/imageL:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/icub/camcalib/right/out</from>
<to>/visuoTactileRF/imageR:i</to>
<protocol>udp</protocol>
</connection>
<connection>
<from>/visuoTactileWrapper/events:o</from>
<to>/visuoTactileRF/events:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmL:o</from>
<to>/skinGui/left_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiForearmR:o</from>
<to>/skinGui/right_forearm_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandL:o</from>
<to>/skinGui/left_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/visuoTactileRF/skinGuiHandR:o</from>
<to>/skinGui/right_hand_virtual:i</to>
<protocol>tcp</protocol>
</connection>
</application>