diff --git a/simmechanics/data/icub2_5/conf/icub.xml b/simmechanics/data/icub2_5/conf/icub.xml index 6ffdfa6..6b9ce23 100644 --- a/simmechanics/data/icub2_5/conf/icub.xml +++ b/simmechanics/data/icub2_5/conf/icub.xml @@ -20,12 +20,12 @@ - - + + + + - - diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml index b757d59..b9b6320 100644 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - ${portprefix}/left_arm + ${portprefix}/left_arm/FT diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml new file mode 100644 index 0000000..07afbe3 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_remapper.xml @@ -0,0 +1,20 @@ + + + + + + + (l_leg_ft_sensor l_foot_ft_sensor) + + + (l_leg_ft_sensor l_foot_ft_sensor) + + + + icub_left_leg_ft + icub_left_foot_ft + + + + + \ No newline at end of file diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml similarity index 61% rename from simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml rename to simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml index 0b57236..5521247 100644 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_foot-FT_wrapper.xml +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg-FT_wrapper.xml @@ -2,16 +2,15 @@ - - 10 - ${portprefix}/left_foot + + 10 + ${portprefix}/left_leg/FT - icub_left_foot_ft + left_leg-FT_remapper - diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml index 2220e0b..940f08d 100644 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - ${portprefix}/right_arm + ${portprefix}/right_arm/FT diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml new file mode 100644 index 0000000..e628419 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_remapper.xml @@ -0,0 +1,20 @@ + + + + + + + (r_leg_ft_sensor r_foot_ft_sensor) + + + (r_leg_ft_sensor r_foot_ft_sensor) + + + + icub_right_leg_ft + icub_right_foot_ft + + + + + \ No newline at end of file diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml similarity index 61% rename from simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml rename to simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml index 820e527..c75fc11 100644 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml +++ b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg-FT_wrapper.xml @@ -2,16 +2,15 @@ - - 10 - ${portprefix}/right_leg_hip + + 10 + ${portprefix}/right_leg/FT - icub_right_leg_ft + right_leg-FT_remapper - diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml b/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml deleted file mode 100644 index 820e527..0000000 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_leg_hip - - - - icub_right_leg_ft - - - - - - diff --git a/simmechanics/data/icub3/conf/icub.xml b/simmechanics/data/icub3/conf/icub.xml index f77376b..dc73585 100644 --- a/simmechanics/data/icub3/conf/icub.xml +++ b/simmechanics/data/icub3/conf/icub.xml @@ -20,14 +20,12 @@ - - - - + + + + - - diff --git a/simmechanics/data/icub3/conf/icub_ROS2.xml b/simmechanics/data/icub3/conf/icub_ROS2.xml index f04568d..d2c677c 100644 --- a/simmechanics/data/icub3/conf/icub_ROS2.xml +++ b/simmechanics/data/icub3/conf/icub_ROS2.xml @@ -20,14 +20,12 @@ - - - - + + + + - - @@ -41,7 +39,7 @@ - --> + diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml index b757d59..b9b6320 100644 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml +++ b/simmechanics/data/icub3/conf/wrappers/FT/left_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - ${portprefix}/left_arm + ${portprefix}/left_arm/FT diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml deleted file mode 100644 index 4e17d1c..0000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - (l_foot_rear_ft - l_foot_front_ft) - - - - icub_left_foot_rear_ft - icub_left_foot_front_ft - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml deleted file mode 100644 index ded716b..0000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_foot_heel_tiptoe - - - - left_foot-FT_remapper - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml new file mode 100644 index 0000000..998e6e4 --- /dev/null +++ b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_remapper.xml @@ -0,0 +1,21 @@ + + + + + + + (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor) + + + (l_leg_ft_sensor l_foot_rear_ft_sensor l_foot_front_ft_sensor) + + + + icub_left_leg_ft + icub_left_foot_rear_ft + icub_left_foot_front_ft + + + + + \ No newline at end of file diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml similarity index 61% rename from simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml rename to simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml index 07edf7b..5521247 100644 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml +++ b/simmechanics/data/icub3/conf/wrappers/FT/left_leg-FT_wrapper.xml @@ -2,16 +2,15 @@ - - 10 - ${portprefix}/left_leg_hip + + 10 + ${portprefix}/left_leg/FT - icub_left_leg_ft + left_leg-FT_remapper - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml deleted file mode 100644 index 07edf7b..0000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/left_leg_hip-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/left_leg_hip - - - - icub_left_leg_ft - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml index 2220e0b..940f08d 100644 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml +++ b/simmechanics/data/icub3/conf/wrappers/FT/right_arm-FT_wrapper.xml @@ -4,7 +4,7 @@ 10 - ${portprefix}/right_arm + ${portprefix}/right_arm/FT diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml deleted file mode 100644 index 6958837..0000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_remapper.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - (r_foot_rear_ft - r_foot_front_ft) - - - - icub_right_foot_rear_ft - icub_right_foot_front_ft - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml deleted file mode 100644 index aa68ba4..0000000 --- a/simmechanics/data/icub3/conf/wrappers/FT/right_foot-FT_wrapper.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - 10 - ${portprefix}/right_foot_heel_tiptoe - - - - right_foot-FT_remapper - - - - - - diff --git a/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml new file mode 100644 index 0000000..4a69763 --- /dev/null +++ b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_remapper.xml @@ -0,0 +1,21 @@ + + + + + + + (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor) + + + (r_leg_ft_sensor r_foot_rear_ft_sensor r_foot_front_ft_sensor) + + + + icub_right_leg_ft + icub_right_foot_rear_ft + icub_right_foot_front_ft + + + + + \ No newline at end of file diff --git a/simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml similarity index 61% rename from simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml rename to simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml index ffe4037..c75fc11 100644 --- a/simmechanics/data/icub2_5/conf/wrappers/FT/right_foot-FT_wrapper.xml +++ b/simmechanics/data/icub3/conf/wrappers/FT/right_leg-FT_wrapper.xml @@ -2,16 +2,15 @@ - - 10 - ${portprefix}/right_foot + + 10 + ${portprefix}/right_leg/FT - icub_right_foot_ft + right_leg-FT_remapper -