From 2b2246d929b64bb6142bad040ef0e509512c0dc9 Mon Sep 17 00:00:00 2001 From: Ines Date: Tue, 12 Apr 2022 14:58:21 +0200 Subject: [PATCH] Reorganize multiple FT sensors files into a single file Reorganize multiple contact wrench files into a single file --- .../iCubGazeboV2_5/interface/ft_clients.xml | 28 ++++++++++++ .../interface/wrench_clients.xml | 28 ++++++++++++ .../iCubGazeboV3/interface/ft_clients.xml | 43 +++++++++++++++++++ .../interface/left_arm_ft_client.xml | 8 ---- .../interface/left_arm_wrench_client.xml | 8 ---- .../interface/left_front_ft_client.xml | 8 ---- .../interface/left_front_wrench_client.xml | 8 ---- .../interface/left_rear_ft_client.xml | 8 ---- .../interface/left_rear_wrench_client.xml | 8 ---- .../interface/right_arm_ft_client.xml | 8 ---- .../interface/right_arm_wrench_client.xml | 8 ---- .../interface/right_front_ft_client.xml | 8 ---- .../interface/right_front_wrench_client.xml | 8 ---- .../interface/right_rear_ft_client.xml | 8 ---- .../interface/right_rear_wrench_client.xml | 8 ---- .../interface/right_upper_leg_ft_client.xml | 8 ---- .../right_upper_leg_wrench_client.xml | 11 ----- .../iCubGazeboV3/interface/wrench_clients.xml | 43 +++++++++++++++++++ .../iCubGazeboV3/launch-yarp-robot-logger.xml | 16 +------ .../iCubGenova02/interface/ft_clients.xml | 29 +++++++++++++ .../interface/mas-left-foot-ft-client.xml | 10 ----- .../interface/mas-left-leg-ft-client.xml | 11 ----- .../interface/mas-right-foot-ft-client.xml | 10 ----- .../interface/mas-right-leg-ft-client.xml | 10 ----- .../iCubGenova02/launch-yarp-robot-logger.xml | 5 +-- .../iCubGenova04/interface/ft_clients.xml | 29 +++++++++++++ .../interface/mas-left-foot-ft-client.xml | 10 ----- .../interface/mas-left-leg-ft-client.xml | 11 ----- .../interface/mas-right-foot-ft-client.xml | 10 ----- .../interface/mas-right-leg-ft-client.xml | 10 ----- .../iCubGenova04/launch-yarp-robot-logger.xml | 5 +-- .../iCubGenova09/interface/ft_clients.xml | 43 +++++++++++++++++++ .../interface/left_arm_ft_client.xml | 8 ---- .../interface/left_arm_wrench_client.xml | 8 ---- .../interface/left_front_ft_client.xml | 8 ---- .../interface/left_front_wrench_client.xml | 8 ---- .../interface/left_rear_ft_client.xml | 8 ---- .../interface/left_rear_wrench_client.xml | 8 ---- .../interface/right_arm_ft_client.xml | 8 ---- .../interface/right_arm_wrench_client.xml | 8 ---- .../interface/right_front_ft_client.xml | 8 ---- .../interface/right_front_wrench_client.xml | 8 ---- .../interface/right_rear_ft_client.xml | 8 ---- .../interface/right_rear_wrench_client.xml | 8 ---- .../interface/right_upper_leg_ft_client.xml | 8 ---- .../right_upper_leg_wrench_client.xml | 11 ----- .../iCubGenova09/interface/wrench_clients.xml | 43 +++++++++++++++++++ .../iCubGenova09/launch-yarp-robot-logger.xml | 16 +------ 48 files changed, 292 insertions(+), 348 deletions(-) create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml delete mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml create mode 100644 devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml new file mode 100644 index 0000000000..f404e74c59 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/ft_clients.xml @@ -0,0 +1,28 @@ + + + + + + + /icubSim/left_foot_front/analog:o + /yarp_robot_logger/left_front_ft + + + + /icubSim/left_foot_rear/analog:o + /yarp_robot_logger/left_rear_ft + + + + /icubSim/right_foot_front/analog:o + /yarp_robot_logger/right_front_ft + + + + /icubSim/right_foot_rear/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml new file mode 100644 index 0000000000..76ee8a7cf7 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV2_5/interface/wrench_clients.xml @@ -0,0 +1,28 @@ + + + + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml new file mode 100644 index 0000000000..e90cf9b25e --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/ft_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /icubSim/left_arm/analog:o + /yarp_robot_logger/left_arm + + + + /icubSim/right_arm/analog:o + /yarp_robot_logger/right_arm + + + + /icubSim/left_foot_front/analog:o + /yarp_robot_logger/left_front_ft + + + + /icubSim/left_foot_rear/analog:o + /yarp_robot_logger/left_rear_ft + + + + /icubSim/right_leg/analog:o + /yarp_robot_logger/right_upper_leg_ft + + + + /icubSim/right_foot_front/analog:o + /yarp_robot_logger/right_front_ft + + + + /icubSim/right_foot_rear/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml deleted file mode 100644 index 6d8ea60650..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_arm/analog:o - /yarp_robot_logger/left_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml deleted file mode 100644 index 826638c567..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml deleted file mode 100644 index 9d53cb2cc6..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_foot_front/analog:o - /yarp_robot_logger/left_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml deleted file mode 100644 index 63cd9c73bd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml deleted file mode 100644 index e830367762..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/left_foot_rear/analog:o - /yarp_robot_logger/left_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml deleted file mode 100644 index 09f6adb89c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/left_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml deleted file mode 100644 index 88255bb368..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_arm/analog:o - /yarp_robot_logger/right_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml deleted file mode 100644 index 3d7c205bd5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml deleted file mode 100644 index 23c2a071e7..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_foot_front/analog:o - /yarp_robot_logger/right_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml deleted file mode 100644 index c415f9e074..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml deleted file mode 100644 index 1e1c3de3b5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_foot_rear/analog:o - /yarp_robot_logger/right_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml deleted file mode 100644 index 69b6e4d8cb..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml deleted file mode 100644 index 999055dd1f..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icubSim/right_leg/analog:o - /yarp_robot_logger/right_upper_leg_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml deleted file mode 100644 index 6db84cb3a4..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/right_upper_leg_wrench_client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_upper_leg_wrench_client - - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml new file mode 100644 index 0000000000..bc1e41b3ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/interface/wrench_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_upper_leg_wrench_client + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml index dc8dc61a03..b0ddd67190 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGazeboV3/launch-yarp-robot-logger.xml @@ -11,20 +11,8 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - - - - - - - - - - - + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml new file mode 100644 index 0000000000..f2b7aaf0ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/ft_clients.xml @@ -0,0 +1,29 @@ + + + + + + + + /icub/left_foot + /yarp_robot_logger/left_foot + + + + /icub/left_leg + /yarp_robot_logger/left_leg + + + + /icub/right_foot + /yarp_robot_logger/right_foot + + + + /icub/right_leg + /yarp_robot_logger/right_leg + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml deleted file mode 100644 index 5b754fce01..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_foot - /yarp_robot_logger/left_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml deleted file mode 100644 index faff8d758c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-left-leg-ft-client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - /icub/left_leg - /yarp_robot_logger/left_leg - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml deleted file mode 100644 index 4842a476ad..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_foot - /yarp_robot_logger/right_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml deleted file mode 100644 index 24aea45410..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/interface/mas-right-leg-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - /yarp_robot_logger/right_leg - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml index 6c22f40a7a..2d46c8aa9b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova02/launch-yarp-robot-logger.xml @@ -10,10 +10,7 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml new file mode 100644 index 0000000000..f2b7aaf0ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/ft_clients.xml @@ -0,0 +1,29 @@ + + + + + + + + /icub/left_foot + /yarp_robot_logger/left_foot + + + + /icub/left_leg + /yarp_robot_logger/left_leg + + + + /icub/right_foot + /yarp_robot_logger/right_foot + + + + /icub/right_leg + /yarp_robot_logger/right_leg + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml deleted file mode 100644 index 5b754fce01..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/left_foot - /yarp_robot_logger/left_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml deleted file mode 100644 index faff8d758c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-left-leg-ft-client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - /icub/left_leg - /yarp_robot_logger/left_leg - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml deleted file mode 100644 index 4842a476ad..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-foot-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_foot - /yarp_robot_logger/right_foot - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml deleted file mode 100644 index 24aea45410..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/interface/mas-right-leg-ft-client.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - /icub/right_leg - /yarp_robot_logger/right_leg - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml index c074ee18ef..512277e42b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova04/launch-yarp-robot-logger.xml @@ -10,10 +10,7 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml new file mode 100644 index 0000000000..463fc16128 --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/ft_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /icub/left_arm/analog:o + /yarp_robot_logger/left_arm + + + + /icub/right_arm/analog:o + /yarp_robot_logger/right_arm + + + + /icub/left_foot_tiptoe/analog:o + /yarp_robot_logger/left_front_ft + + + + /icub/left_foot_heel/analog:o + /yarp_robot_logger/left_foot_rear + + + + /icub/right_leg_hip/analog:o + /yarp_robot_logger/right_upper_leg_ft + + + + /icub/right_foot_tiptoe/analog:o + /yarp_robot_logger/right_front_ft + + + + /icub/right_foot_heel/analog:o + /yarp_robot_logger/right_rear_ft + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml deleted file mode 100644 index 206e645351..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_arm/analog:o - /yarp_robot_logger/left_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml deleted file mode 100644 index 826638c567..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml deleted file mode 100644 index a7cd95282c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_foot_tiptoe/analog:o - /yarp_robot_logger/left_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml deleted file mode 100644 index 63cd9c73bd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml deleted file mode 100644 index 10ea1bef74..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/left_foot_heel/analog:o - /yarp_robot_logger/left_foot_rear - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml deleted file mode 100644 index 09f6adb89c..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/left_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/left_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml deleted file mode 100644 index 6dc028daa0..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_arm/analog:o - /yarp_robot_logger/right_arm - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml deleted file mode 100644 index 3d7c205bd5..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_arm_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_arm_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml deleted file mode 100644 index 6080498edd..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_foot_tiptoe/analog:o - /yarp_robot_logger/right_front_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml deleted file mode 100644 index c415f9e074..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_front_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_front_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml deleted file mode 100644 index e8cfb2cf8d..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_foot_heel/analog:o - /yarp_robot_logger/right_rear_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml deleted file mode 100644 index 69b6e4d8cb..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_rear_wrench_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_rear_wrench - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml deleted file mode 100644 index b62b4e9e2a..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_ft_client.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - /icub/right_leg_hip/analog:o - /yarp_robot_logger/right_upper_leg_ft - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml deleted file mode 100644 index 6db84cb3a4..0000000000 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/right_upper_leg_wrench_client.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o - /yarp_robot_logger/right_upper_leg_wrench_client - - - - diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml new file mode 100644 index 0000000000..bc1e41b3ac --- /dev/null +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/wrench_clients.xml @@ -0,0 +1,43 @@ + + + + + + + /wholeBodyDynamics/left_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_arm_wrench + + + + /wholeBodyDynamics/right_arm/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_arm_wrench + + + + /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_front_wrench + + + + /wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/left_rear_wrench + + + + /wholeBodyDynamics/right_upper_leg/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_upper_leg_wrench_client + + + + /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_front_wrench + + + + /wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o + /yarp_robot_logger/right_rear_wrench + + + diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml index edeee4937a..68df2fd73b 100644 --- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml +++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/launch-yarp-robot-logger.xml @@ -11,20 +11,8 @@ GNU Lesser General Public License v2.1 or any later version. --> - - - - - - - - - - - - - - + +