Updated startup and XBG applications

ergoCubSN001/extra/applications/xbg.xml

@@ -6,37 +6,37 @@
         <parameters>--config realsense2.xml</parameters>
 	    <node>ergocub-head</node>
     </module>
-    
+
     <module>
         <name>WalkingModule</name>
         <parameters>--from dcm_walking_autonomous.ini</parameters>
 	    <node>ergocub-torso</node>
     </module>
-   
+
     <module>
     	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/</workdir>
         <name>bash</name>
         <parameters>xbg.sh </parameters>
 	<node>ergocub001-lap</node>
     </module>
-    
+
     <module>
     	<workdir>/usr/local/src/robot/ami/element_exteroceptive-behaviour-generation/src/simulation/</workdir>
         <name>python3 </name>
-        <parameters>demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7</parameters>
+        <parameters>demo.py -p XBGdv2_2 -m uvwoypt8 -s epoch7 -w 0.1</parameters>
 	    <node>ergocub002-lap</node>
     </module>
 
     <connection>
         <output>/xbg/joints</output>
         <input>/walking-coordinator/humanState:i</input>
-        <protocol>tcp</protocol>
+        <protocol>fast_tcp</protocol>
     </connection>
 
     <connection>
         <output>/xbg/joypad</output>
         <input>/walking-coordinator/goal:i</input>
-        <protocol>tcp</protocol>
+        <protocol>fast_tcp</protocol>
     </connection>
 
 </application>