[skinManager] Add support for linkName and frameName in skinContact

robotology · Aug 23, 2017 · 856f0d7 · 856f0d7
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diff --git a/app/skinGui/conf/positions/left_arm_mesh.txt b/app/skinGui/conf/positions/left_arm_mesh.txt
@@ -1,4 +1,5 @@
 name                l_upper_arm
+frameName           l_upper_arm_dh_frame
 spatial_sampling    taxel
 taxel2Repr          (-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 39 39 39 39 39 39 -1 39 39 39 -1 39 51 51 51 51 51 51 -1 51 51 51 -1 51 63 63 63 63 63 63 -1 63 63 63 -1 63 75 75 75 75 75 75 -1 75 75 75 -1 75 87 87 87 87 87 87 -1 87 87 87 -1 87 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 111 111 111 111 111 111 -1 111 111 111 -1 111 123 123 123 123 123 123 -1 123 123 123 -1 123 135 135 135 135 135 135 -1 135 135 135 -1 135 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 195 195 195 195 195 195 -1 195 195 195 -1 195 207 207 207 207 207 207 -1 207 207 207 -1 207 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 267 267 267 267 267 267 -1 267 267 267 -1 267 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 291 291 291 291 291 291 -1 291 291 291 -1 291 303 303 303 303 303 303 -1 303 303 303 -1 303 315 315 315 315 315 315 -1 315 315 315 -1 315 327 327 327 327 327 327 -1 327 327 327 -1 327 339 339 339 339 339 339 -1 339 339 339 -1 339 351 351 351 351 351 351 -1 351 351 351 -1 351 363 363 363 363 363 363 -1 363 363 363 -1 363 375 375 375 375 375 375 -1 375 375 375 -1 375 387 387 387 387 387 387 -1 387 387 387 -1 387 399 399 399 399 399 399 -1 399 399 399 -1 399 411 411 411 411 411 413 -1 411 411 411 -1 411 423 423 423 423 423 423 -1 423 423 423 -1 423 435 435 435 435 435 435 -1 435 435 435 -1 435 447 447 447 447 447 447 -1 447 447 447 -1 447 459 459 459 459 459 459 -1 459 459 459 -1 459 471 471 471 471 471 471 -1 471 471 471 -1 471 483 483 483 483 483 483 -1 483 483 483 -1 483 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 531 531 531 531 531 531 -1 531 531 531 -1 531 543 543 543 543 543 543 -1 543 543 543 -1 543 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 579 579 579 579 579 579 -1 579 579 579 -1 579 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 639 639 639 639 639 639 -1 639 639 639 -1 639 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 675 675 675 675 675 675 -1 675 675 675 -1 675 687 687 687 687 687 687 -1 687 687 687 -1 687 699 699 699 699 699 699 -1 699 699 699 -1 699 711 711 711 711 711 711 -1 711 711 711 -1 711 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 735 735 735 735 735 735 -1 735 735 735 -1 735 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 759 759 759 759 759 759 -1 759 759 759 -1 759)
 [calibration]

diff --git a/app/skinGui/conf/positions/left_forearm_V2.txt b/app/skinGui/conf/positions/left_forearm_V2.txt
@@ -1,4 +1,5 @@
 name    l_forearm
+frameName           l_forearm_dh_frame
 spatial_sampling     taxel
 taxel2Repr (  3  3  3  3  3  3  -1  3  3  3  -1  3  15  15  15  15  15  15  -1  15  15  15  -1  15  27  27  27  27  27  27  -1  27  27  27  -1  27  39  39  39  39  39  39  -1  39  39  39  -1  39  51  51  51  51  51  51  -1  51  51  51  -1  51  63  63  63  63  63  63  -1  63  63  63  -1  63  75  75  75  75  75  75  -1  75  75  75  -1  75  87  87  87  87  87  87  -1  87  87  87  -1  87  99  99  99  99  99  99  -1  99  99  99  -1  99  111  111  111  111  111  111  -1  111  111  111  -1  111  123  123  123  123  123  123  -1  123  123  123  -1  123  135  135  135  135  135  135  -1  135  135  135  -1  135  147  147  147  147  147  147  -1  147  147  147  -1  147  159  159  159  159  159  159  -1  159  159  159  -1  159  171  171  171  171  171  171  -1  171  171  171  -1  171  183  183  183  183  183  183  -1  183  183  183  -1  183  195  195  195  195  195  195  -1  195  195  195  -1  195  207  207  207  207  207  207  -1  207  207  207  -1  207  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  231  231  231  231  231  231  -1  231  231  231  -1  231  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  267  267  267  267  267  267  -1  267  267  267  -1  267  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  291  291  291  291  291  291  -1  291  291  291  -1  291  303  303  303  303  303  303  -1  303  303  303  -1  303  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  339  339  339  339  339  339  -1  339  339  339  -1  339  351  351  351  351  351  351  -1  351  351  351  -1  351  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  -1  )
 [calibration]