XsensSuitWearableDevice.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="xsens-suit-setup" build=0 portprefix="">

    <!--device type="XsensSuit" name="XsensSuitDevice">-->
    <device type="xsens_suit" name="XsensSuitDevice">
        <!-- Folder where XsensMVN runtime dependencies are stored -->
        <param name="xsens-rundeps-dir">"C:\\Program Files\\Xsens\\MVN SDK 2018.0.3\\SDK Files\\rundeps"</param>
        <!-- XsensSuit configuration to be used. Available values are:-->
        <!-- FullBody -  FullBodyNoSternum - FullBodyNoHands - FullBodyNoSternumNoHands -->
        <!-- LowerBody - UpperBody - UpperBodyNoSternum - UpperBodyNoHands - UpperBodyNoSternumNoHands -->
        <!-- FullBodyNoShoulders - SingleDevice - PelvisSternum - LowerBodyPlus -->
        <param name="suit-config">FullBody</param>
        <!-- Acquisition scenario to be used - it influences how the contacts are used to prevent drifts. Available values are:-->
        <!-- default- singleLevel - multiLevel - noLevel - softFloor -->
        <param name="acquisition-scenario">singleLevel</param>
        <!-- Calibration type to be used as fallback. Available values are:-->
        <!-- NposeWalk - TposeWalk - Npose - Tpose-->
        <param name="default-calibration-type">Npose</param>
        <!-- Minimum calibration quality to be considered good enought to be applied and allow the acquisition to start. Available values are: -->
        <!-- Poor - Acceptable - Good -->
        <param name="minimum-calibration-quality-required">Poor</param>
        <!-- Maximum Time [s] to scan for the suit. Set to -1 enables endless scan-->
        <param name="scan-timeout">60</param>
        <!-- Sampling rate [Hz]. Available values are:-->
        <!-- 240 - 120 - 80 - 60 -->
        <param name="sampling-rate">120</param>
        <!-- Flag to save mvn recording -->
        <param name="saveMVNRecording">false</param>
	<!-- Flag to save .mvn calibration -->
        <param name="saveCurrentCalibration">true</param>
        <!-- Quantities to be extracted from the driver for each time sample -->
        <group name="output-stream-configuration">
            <param name="enable-joint-data">true</param>
            <param name="enable-link-data">true</param>
            <param name="enable-sensor-data">true</param>
        </group>
        <!-- Subject=specific body dimensions -->
        <group name="body-dimensions">
            <param name="ankleHeight">0.07</param>
            <param name="armSpan">1.71</param>
            <param name="bodyHeight">1.71</param>
            <param name="footSize">0.26</param>
            <param name="hipHeight">0.87</param>
            <param name="hipWidth">0.25</param>
            <param name="kneeHeight">0.50</param>
            <param name="shoulderWidth">0.34</param>
            <param name="shoeSoleHeight">0.02</param>
        </group>
    </device>

    <device type="iwear_wrapper" name="XSensSuitDeviceWrapper">
        <param name="period">0.01</param>
        <param name="dataPortName">/XSensSuit/WearableData/data:o</param>
        <param name="rpcPortName">/XSensSuit/WearableData/metadataRpc:o</param>
        <action phase="startup" level="5" type="attach">
            <paramlist name="networks">
                <elem name="XsensSuitDeviceWrapper"> XsensSuitDevice </elem>
            </paramlist>
        </action>
        <action phase="shutdown" level="5" type="detach"/>
    </device>

    <device type="ixsensmvncontrol_wrapper" name="XSensSuitControl">
        <param name="rpcPortName">/XSensSuit/Control/rpc:i</param>
        <action phase="startup" level="5" type="attach">
            <paramlist name="networks">
                <elem name="XsensSuitControlWrapper"> XsensSuitDevice </elem>
            </paramlist>
        </action>
        <action phase="shutdown" level="5" type="detach"/>
    </device>
</robot>