From a1b9efa8efe54634ba8e66476fe242e6e9427444 Mon Sep 17 00:00:00 2001 From: Yue Hu Date: Wed, 18 Jul 2018 08:51:55 +0200 Subject: [PATCH] Changed skin frameReferenceLink to r_foot and l_foot as l_sole and r_sole are not links and the generated model would not take into account the new skin frames. See https://github.com/robotology/icub-model-generator/issues/98#issuecomment-405618444 --- .../ICUB_2-5_BB_simmechanics_options.yaml.in | 100 +++++++++--------- 1 file changed, 50 insertions(+), 50 deletions(-) diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in index 73aa870d..82b0a344 100644 --- a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in @@ -397,154 +397,154 @@ exportedFrames: frameReferenceLink: r_lower_leg exportedFrameName: r_lower_leg_skin_21 - frameName: SCSYS_R_FOOT_SKIN_9 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_9 - frameName: SCSYS_R_FOOT_SKIN_8 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_8 - frameName: SCSYS_R_FOOT_SKIN_10 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_10 - frameName: SCSYS_R_FOOT_SKIN_11 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_11 - frameName: SCSYS_R_FOOT_SKIN_12 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_12 - frameName: SCSYS_R_FOOT_SKIN_13 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_13 - frameName: SCSYS_R_FOOT_SKIN_1 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_1 - frameName: SCSYS_R_FOOT_SKIN_2 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_2 - frameName: SCSYS_R_FOOT_SKIN_3 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_3 - frameName: SCSYS_R_FOOT_SKIN_4 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_4 - frameName: SCSYS_R_FOOT_SKIN_0 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_0 - frameName: SCSYS_R_FOOT_SKIN_15 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_15 - frameName: SCSYS_R_FOOT_SKIN_14 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_14 - frameName: SCSYS_R_FOOT_SKIN_21 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_21 - frameName: SCSYS_R_FOOT_SKIN_26 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_26 - frameName: SCSYS_R_FOOT_SKIN_27 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_27 - frameName: SCSYS_R_FOOT_SKIN_28 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_28 - frameName: SCSYS_R_FOOT_SKIN_17 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_17 - frameName: SCSYS_R_FOOT_SKIN_18 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_18 - frameName: SCSYS_R_FOOT_SKIN_19 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_19 - frameName: SCSYS_R_FOOT_SKIN_20 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_20 - frameName: SCSYS_R_FOOT_SKIN_29 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_29 - frameName: SCSYS_R_FOOT_SKIN_24 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_24 - frameName: SCSYS_R_FOOT_SKIN_25 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_25 - frameName: SCSYS_R_FOOT_SKIN_22 - frameReferenceLink: r_sole + frameReferenceLink: r_foot exportedFrameName: r_sole_skin_22 - frameName: SCSYS_L_FOOT_SKIN_9 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_9 - frameName: SCSYS_L_FOOT_SKIN_10 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_10 - frameName: SCSYS_L_FOOT_SKIN_11 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_11 - frameName: SCSYS_L_FOOT_SKIN_12 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_12 - frameName: SCSYS_L_FOOT_SKIN_13 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_13 - frameName: SCSYS_L_FOOT_SKIN_8 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_8 - frameName: SCSYS_L_FOOT_SKIN_1 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_1 - frameName: SCSYS_L_FOOT_SKIN_0 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_0 - frameName: SCSYS_L_FOOT_SKIN_15 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_15 - frameName: SCSYS_L_FOOT_SKIN_14 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_14 - frameName: SCSYS_L_FOOT_SKIN_2 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_2 - frameName: SCSYS_L_FOOT_SKIN_3 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_3 - frameName: SCSYS_L_FOOT_SKIN_4 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_4 - frameName: SCSYS_L_FOOT_SKIN_21 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_21 - frameName: SCSYS_L_FOOT_SKIN_26 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_26 - frameName: SCSYS_L_FOOT_SKIN_27 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_27 - frameName: SCSYS_L_FOOT_SKIN_28 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_28 - frameName: SCSYS_L_FOOT_SKIN_17 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_17 - frameName: SCSYS_L_FOOT_SKIN_18 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_18 - frameName: SCSYS_L_FOOT_SKIN_19 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_19 - frameName: SCSYS_L_FOOT_SKIN_20 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_20 - frameName: SCSYS_L_FOOT_SKIN_29 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_29 - frameName: SCSYS_L_FOOT_SKIN_24 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_24 - frameName: SCSYS_L_FOOT_SKIN_25 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_25 - frameName: SCSYS_L_FOOT_SKIN_22 - frameReferenceLink: l_sole + frameReferenceLink: l_foot exportedFrameName: l_sole_skin_22 @XSENS_IMU_FRAME@