From 1ce25666551e05079107cb4502b9680cc82000c3 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Thu, 29 Sep 2022 15:10:26 +0200
Subject: [PATCH] [iCubGenova09] Set the inertial wrappers period at 10 ms

---
 iCubGenova09/wrappers/inertials/head-imuFilter.xml         | 2 +-
 iCubGenova09/wrappers/inertials/head-imuFilter_wrapper.xml | 2 +-
 iCubGenova09/wrappers/inertials/head-inertials_wrapper.xml | 2 +-
 iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml   | 2 +-
 iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml  | 2 +-
 iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml   | 2 +-
 iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml  | 2 +-
 iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml | 2 +-
 iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml  | 2 +-
 iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml | 2 +-
 10 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/iCubGenova09/wrappers/inertials/head-imuFilter.xml b/iCubGenova09/wrappers/inertials/head-imuFilter.xml
index 588531372d..c57bc577a6 100644
--- a/iCubGenova09/wrappers/inertials/head-imuFilter.xml
+++ b/iCubGenova09/wrappers/inertials/head-imuFilter.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-imuFilter" type="imuFilter">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /imuFilter              </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/head-imuFilter_wrapper.xml b/iCubGenova09/wrappers/inertials/head-imuFilter_wrapper.xml
index 580bf89fd7..0e4b886bfd 100644
--- a/iCubGenova09/wrappers/inertials/head-imuFilter_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/head-imuFilter_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-imuFilter_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /imuFilter              </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/head-inertials_wrapper.xml b/iCubGenova09/wrappers/inertials/head-inertials_wrapper.xml
index 43b9a485f8..ab266c8715 100644
--- a/iCubGenova09/wrappers/inertials/head-inertials_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/head-inertials_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-inertials_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/head/inertials       </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml
index fdcda4d7c6..5a3fe80c58 100644
--- a/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/left_arm-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/left_arm/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml
index 76197cc40d..62e516e171 100644
--- a/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/left_foot-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_foot-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/left_foot/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml
index 0c2150d0f5..96820612c3 100644
--- a/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/left_leg-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/left_leg/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml
index 32d8a5a7ed..e456a5f365 100644
--- a/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/right_arm-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/right_arm/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml
index bb11e7310a..49a6e9efd9 100644
--- a/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/right_foot-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_foot-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/right_foot/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml b/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml
index eac9f9e94c..1dcee40b7a 100644
--- a/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/right_leg-IMU_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_leg-imu_wrapper" type="multipleanalogsensorsserver">
-        <param name="period">       2                  </param>
+        <param name="period">       10                  </param>
         <param name="name">     /icub/right_leg/imu                </param>
 
 
diff --git a/iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml b/iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml
index fba96e4816..6d855bd280 100644
--- a/iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml
+++ b/iCubGenova09/wrappers/inertials/torso_inertial_wrapper.xml
@@ -3,7 +3,7 @@
 
 
     <device xmlns:xi="http://www.w3.org/2001/XInclude" name="torso_inertialGYROwrapper" type="analogServer">
-        <param name="period">       2                              </param>
+        <param name="period">       10                              </param>
         <param name="name">         /icub/torso/inertialGYRO        </param>