icub-grasp.xml

<application>
    <name>iCub Grasp</name>

    <dependencies>
    </dependencies>

    <module>
        <name>gzserver</name>
        <parameters>-e dart icub-gazebo-grasping-sandbox.sdf</parameters>
        <node>localhost</node>
    </module>

    <module>
        <name>gzclient</name>
        <node>localhost</node>
    </module>

    <module>
        <name>yarprobotinterface</name>
        <parameters>--context gazeboCartesianControl --config no_legs.xml</parameters>
        <dependencies>
            <port timeout="20">/icubSim/torso/state:o</port>
            <port timeout="20">/icubSim/left_arm/state:o</port>
            <port timeout="20">/icubSim/right_arm/state:o</port>
        </dependencies>
        <ensure>
            <wait when="stop">5</wait>
        </ensure>
        <node>localhost</node>
    </module>

    <module>
        <name>iKinCartesianSolver</name>
        <parameters>--context gazeboCartesianControl --part right_arm</parameters>
        <dependencies>
            <port timeout="20">/icubSim/torso/state:o</port>
            <port timeout="20">/icubSim/right_arm/state:o</port>
        </dependencies>
        <node>localhost</node>
    </module>

    <module>
        <name>iKinCartesianSolver</name>
        <parameters>--context gazeboCartesianControl --part left_arm</parameters>
        <dependencies>
            <port timeout="20">/icubSim/torso/state:o</port>
            <port timeout="20">/icubSim/left_arm/state:o</port>
        </dependencies>
        <node>localhost</node>
    </module>

    <module>
        <name>iKinGazeCtrl</name>
        <parameters>--context gazeboCartesianControl --from iKinGazeCtrl.ini</parameters>
        <dependencies>
            <port timeout="20">/icubSim/torso/state:o</port>
            <port timeout="20">/icubSim/head/state:o</port>
            <port timeout="20">/icubSim/inertial</port>
        </dependencies>
        <ensure>
            <wait when="stop">5</wait>
        </ensure>
        <node>localhost</node>
    </module>

    <module>
        <name>yarpview</name>
        <parameters>--name /view/left --compact --p 10 --x 20 --y 20</parameters>
        <dependencies>
            <port timeout="20">/icub-grasp/rpc</port>
        </dependencies>
        <node>localhost</node>
    </module>

    <module>
        <name>find-superquadric</name>
        <parameters>--remove-outliers "(0.01 10)" --random-sample 0.2 --disable-viewer</parameters>
        <dependencies>
            <port timeout="20">/icub-grasp/rpc</port>
        </dependencies>
        <node>localhost</node>
    </module>

    <module>
        <name>icub-gazebo-grasping-sandbox</name>
        <parameters></parameters>
        <dependencies>
            <port timeout="20">/iKinGazeCtrl/rpc</port>
            <port timeout="20">/icubSim/cartesianController/right_arm/state:o</port>
            <port timeout="20">/icubSim/cartesianController/left_arm/state:o</port>
        </dependencies>
        <node>localhost</node>
    </module>

    <connection>
        <from>/icub-grasp/mustard_bottle/mover:o</from>
        <to>/mustard_bottle/model-mover/delta-pose:i</to>
        <protocol>tcp</protocol>
    </connection>

    <connection>
        <from>/icub-grasp/pudding_box/mover:o</from>
        <to>/pudding_box/model-mover/delta-pose:i</to>
        <protocol>tcp</protocol>
    </connection>

    <connection>
        <from>/icubSim/cam/left/rgbImage:o</from>
        <to>/view/left</to>
        <protocol>fast_tcp</protocol>
    </connection>

    <connection>
        <from>/icubSim/cam/left/rgbImage:o</from>
        <to>/icub-grasp/rgb:i</to>
        <protocol>fast_tcp</protocol>
    </connection>

    <connection>
        <from>/icubSim/cam/left/depthImage:o</from>
        <to>/icub-grasp/depth:i</to>
        <protocol>fast_tcp</protocol>
    </connection>

    <connection>
        <from>/icub-grasp/sq:rpc</from>
        <to>/find-superquadric/points:rpc</to>
        <protocol>tcp</protocol>
    </connection>

</application>