wholeBodyPlayer_App.xml.template

<application>
<name>WholeBodyPlayer app</name>
<dependencies>
</dependencies>
    <module>
        <name>wholeBodyPlayer</name>
        <parameters>--robot icub --parts "(head torso left_arm right_arm)"</parameters>
        <node>localhost</node>
        <dependencies>
            <port> /yarpdataplayer/rpc:i </port>
            <port> /icubSim/head/state:o </port>
            <port> /icubSim/torso/state:o </port>
            <port> /icubSim/left_arm/state:o </port>
            <port> /icubSim/right_arm/state:o </port>
        </dependencies>
    </module>
    <module>
        <name>yarpdataplayer</name>
        <parameters></parameters>
        <node>localhost</node>

    </module>
    <connection>
        <from>/dataplayer/head/state:o</from>
        <to>/wholeBodyPlayerModule/head/state:i</to>
        <protocol>udp</protocol>
    </connection>
    <connection>
        <from>/dataplayer/torso/state:o</from>
        <to>/wholeBodyPlayerModule/torso/state:i</to>
        <protocol>udp</protocol>
    </connection>
    <connection>
        <from>/dataplayer/left_arm/state:o</from>
        <to>/wholeBodyPlayerModule/left_arm/state:i</to>
        <protocol>udp</protocol>
    </connection>
    <connection>
        <from>/dataplayer/right_arm/state:o</from>
        <to>/wholeBodyPlayerModule/right_arm/state:i</to>
        <protocol>udp</protocol>
    </connection>

</application>