Make an example of a model with two F/T sensors published via YARP devices

[lucapa17]

We added another model containg two F/T sensors (c68833efd2ad867652e3bdb1e33cc09d9393a8df).

If we run the model model2sensors.sdf , the output of the command yarp name list is:

registration name /forcetorque1/measures:o ip 172.27.5.40 port 10002 type tcp
registration name /forcetorque1/rpc:o ip 172.27.5.40 port 10003 type tcp
registration name /forcetorque2/measures:o ip 172.27.5.40 port 10004 type tcp
registration name /forcetorque2/rpc:o ip 172.27.5.40 port 10005 type tcp
registration name /root ip 172.27.5.40 port 10000 type tcp
registration name fallback ip 224.2.1.1 port 10000 type mcast

We can see the measures of the two sensors with the command:

• yarp read /read /forcetorque1/measures:o

  () () () () () (((0.0 0.0 0.0 0.0 0.0 0.0) 0.0)) () () () ()
  () () () () () (((0.0 0.0 -196.0 0.0 0.0 0.0) 0.0389999999999999999445)) () () () ()
  () () () () () (((0.0 0.0 -196.0 0.0 0.0 0.0) 0.115000000000000004996)) () () () ()
  () () () () () (((0.0 0.0 -196.0 0.0 0.0 0.0) 0.193000000000000004885)) () () () ()
  () () () () () (((0.0 0.0 -196.0 0.0 0.0 0.0) 0.275000000000000022204)) () () () ()
  ...

• yarp read /read /forcetorque2/measures:o

  () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.53100000000000058265)) () () () ()
  () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.61299999999999954525)) () () () ()
  () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.68900000000000005684)) () () () ()
  () () () () () (((0.0 0.0 -98.0 0.0 0.0 0.0) 8.77299999999999968736)) () () () ()

Considering our model, the values are correct.