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jgvictoresjgvictores
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Merge pull request #36 from roboticslab-uc3m/link-names-#37
renamed link names according to Unified TEO link names [ @rsantos88 THANKS! ] - roboticslab-uc3m/teo-main#37
2 parents 91f13a6 + d9b8153 commit 1916d1c

10 files changed

+205
-206
lines changed

‎openrave/teo/leftDextra.kinbody.xml

+12-12
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
<KinBody name="leftHand">
22

3-
<!-- Base: LeftFrontalWrist (muñeca + palma + dorsal) -->
3+
<!-- Base: FrontalLeftWrist (muñeca + palma + dorsal) -->
44

5-
<Body name="LeftFrontalWrist" type="dynamic">
5+
<Body name="FrontalLeftWrist" type="dynamic">
66
<Translation>0 0 0</Translation>
77
<Geom type="trimesh">
88
<Render>models/7.1^manoizq_static_links.wrl 0.001</Render>
@@ -16,7 +16,7 @@
1616
<!-- Dedo pulgar: abductor (01) -->
1717

1818
<Body name="leftthumbAbductor" type="dynamic">
19-
<offsetfrom>LeftFrontalWrist</offsetfrom>
19+
<offsetfrom>FrontalLeftWrist</offsetfrom>
2020
<Translation>0.026 -0.0126 -0.112</Translation>
2121
<RotationAxis>-1 0 0 90</RotationAxis>
2222
<Geom type="trimesh">
@@ -29,7 +29,7 @@
2929
</Body>
3030

3131
<Joint circular="false" name="leftthumbAbductorJoint" type="hinge">
32-
<Body>LeftFrontalWrist</Body>
32+
<Body>FrontalLeftWrist</Body>
3333
<Body>leftthumbAbductor</Body>
3434
<offsetfrom>leftthumbAbductor</offsetfrom>
3535

@@ -97,7 +97,7 @@
9797
<!-- Dedo meñique: falange proximal (05) -->
9898

9999
<Body name="leftPinkyFingerProximal" type="dynamic">
100-
<offsetfrom>LeftFrontalWrist</offsetfrom>
100+
<offsetfrom>FrontalLeftWrist</offsetfrom>
101101
<Translation>-0.0275 0.001 -0.196</Translation>
102102
<RotationAxis>1 0 0 90</RotationAxis>
103103
<RotationAxis>0 1 0 90</RotationAxis>
@@ -112,7 +112,7 @@
112112
</Body>
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114114
<Joint circular="false" name="leftPinkyFingerProximalJoint" type="hinge">
115-
<Body>LeftFrontalWrist</Body>
115+
<Body>FrontalLeftWrist</Body>
116116
<Body>leftPinkyFingerProximal</Body>
117117
<offsetfrom>leftPinkyFingerProximal</offsetfrom>
118118
<weight>1.0</weight>
@@ -175,7 +175,7 @@
175175
<!-- Dedo anular: falange proximal (04) -->
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177177
<Body name="leftRingFingerProximal" type="dynamic">
178-
<offsetfrom>LeftFrontalWrist</offsetfrom>
178+
<offsetfrom>FrontalLeftWrist</offsetfrom>
179179
<Translation>-0.00798 0.001 -0.211</Translation>
180180
<RotationAxis>1 0 0 90</RotationAxis>
181181
<RotationAxis>0 1 0 90</RotationAxis>
@@ -190,7 +190,7 @@
190190
</Body>
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192192
<Joint circular="false" name="leftRingFingerProximalJoint" type="hinge">
193-
<Body>LeftFrontalWrist</Body>
193+
<Body>FrontalLeftWrist</Body>
194194
<Body>leftRingFingerProximal</Body>
195195
<offsetfrom>leftRingFingerProximal</offsetfrom>
196196
<weight>1.0</weight>
@@ -253,7 +253,7 @@
253253
<!-- Dedo corazón: falange proximal (03) -->
254254

255255
<Body name="leftMiddleFingerProximal" type="dynamic">
256-
<offsetfrom>LeftFrontalWrist</offsetfrom>
256+
<offsetfrom>FrontalLeftWrist</offsetfrom>
257257
<Translation>0.01154 0.001 -0.221</Translation>
258258
<RotationAxis>1 0 0 90</RotationAxis>
259259
<RotationAxis>0 1 0 90</RotationAxis>
@@ -268,7 +268,7 @@
268268
</Body>
269269

270270
<Joint circular="false" name="leftMiddleFingerProximalJoint" type="hinge">
271-
<Body>LeftFrontalWrist</Body>
271+
<Body>FrontalLeftWrist</Body>
272272
<Body>leftMiddleFingerProximal</Body>
273273
<offsetfrom>leftMiddleFingerProximal</offsetfrom>
274274
<weight>1.0</weight>
@@ -331,7 +331,7 @@
331331
<!-- Dedo índice: falange proximal (02) -->
332332

333333
<Body name="leftIndexFingerProximal" type="dynamic">
334-
<offsetfrom>LeftFrontalWrist</offsetfrom>
334+
<offsetfrom>FrontalLeftWrist</offsetfrom>
335335
<Translation>0.03106 0.001 -0.213</Translation>
336336
<RotationAxis>1 0 0 90</RotationAxis>
337337
<RotationAxis>0 1 0 90</RotationAxis>
@@ -346,7 +346,7 @@
346346
</Body>
347347

348348
<Joint circular="false" name="leftIndexFingerProximalJoint" type="hinge">
349-
<Body>LeftFrontalWrist</Body>
349+
<Body>FrontalLeftWrist</Body>
350350
<Body>leftIndexFingerProximal</Body>
351351
<offsetfrom>leftIndexFingerProximal</offsetfrom>
352352
<weight>1.0</weight>

‎openrave/teo/rightDextra.kinbody.xml

+12-12
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
<KinBody name="rightHand">
22

3-
<!-- Base: RightFrontalWrist (muñeca + palma + dorsal) -->
3+
<!-- Base: FrontalRightWrist (muñeca + palma + dorsal) -->
44

5-
<Body name="RightFrontalWrist" type="dynamic">
5+
<Body name="FrontalRightWrist" type="dynamic">
66
<Translation>0 0 0</Translation>
77
<Geom type="trimesh">
88
<Render>models/6.3^mano_static_links.wrl 0.001</Render>
@@ -16,7 +16,7 @@
1616
<!-- Dedo pulgar: abductor (01) -->
1717

1818
<Body name="thumbAbductor" type="dynamic">
19-
<offsetfrom>RightFrontalWrist</offsetfrom>
19+
<offsetfrom>FrontalRightWrist</offsetfrom>
2020
<Translation>0.026 -0.0126 -0.112</Translation>
2121
<RotationAxis>-1 0 0 90</RotationAxis>
2222
<Geom type="trimesh">
@@ -29,7 +29,7 @@
2929
</Body>
3030

3131
<Joint circular="false" name="thumbAbductorJoint" type="hinge">
32-
<Body>RightFrontalWrist</Body>
32+
<Body>FrontalRightWrist</Body>
3333
<Body>thumbAbductor</Body>
3434
<offsetfrom>thumbAbductor</offsetfrom>
3535

@@ -97,7 +97,7 @@
9797
<!-- Dedo meñique: falange proximal (05) -->
9898

9999
<Body name="RightPinkyFingerProximal" type="dynamic">
100-
<offsetfrom>RightFrontalWrist</offsetfrom>
100+
<offsetfrom>FrontalRightWrist</offsetfrom>
101101
<Translation>-0.01062 -0.001 -0.196</Translation>
102102
<RotationAxis>1 0 0 90</RotationAxis>
103103
<RotationAxis>0 1 0 90</RotationAxis>
@@ -111,7 +111,7 @@
111111
</Body>
112112

113113
<Joint circular="false" name="RightPinkyFingerProximalJoint" type="hinge">
114-
<Body>RightFrontalWrist</Body>
114+
<Body>FrontalRightWrist</Body>
115115
<Body>RightPinkyFingerProximal</Body>
116116
<offsetfrom>RightPinkyFingerProximal</offsetfrom>
117117
<weight>1.0</weight>
@@ -174,7 +174,7 @@
174174
<!-- Dedo anular: falange proximal (04) -->
175175

176176
<Body name="RightRingFingerProximal" type="dynamic">
177-
<offsetfrom>RightFrontalWrist</offsetfrom>
177+
<offsetfrom>FrontalRightWrist</offsetfrom>
178178
<Translation>0.0089 -0.001 -0.211</Translation>
179179
<RotationAxis>1 0 0 90</RotationAxis>
180180
<RotationAxis>0 1 0 90</RotationAxis>
@@ -188,7 +188,7 @@
188188
</Body>
189189

190190
<Joint circular="false" name="RightRingFingerProximalJoint" type="hinge">
191-
<Body>RightFrontalWrist</Body>
191+
<Body>FrontalRightWrist</Body>
192192
<Body>RightRingFingerProximal</Body>
193193
<offsetfrom>RightRingFingerProximal</offsetfrom>
194194
<weight>1.0</weight>
@@ -251,7 +251,7 @@
251251
<!-- Dedo corazón: falange proximal (03) -->
252252

253253
<Body name="RightMiddleFingerProximal" type="dynamic">
254-
<offsetfrom>RightFrontalWrist</offsetfrom>
254+
<offsetfrom>FrontalRightWrist</offsetfrom>
255255
<Translation>0.02842 -0.001 -0.221</Translation>
256256
<RotationAxis>1 0 0 90</RotationAxis>
257257
<RotationAxis>0 1 0 90</RotationAxis>
@@ -265,7 +265,7 @@
265265
</Body>
266266

267267
<Joint circular="false" name="RightMiddleFingerProximalJoint" type="hinge">
268-
<Body>RightFrontalWrist</Body>
268+
<Body>FrontalRightWrist</Body>
269269
<Body>RightMiddleFingerProximal</Body>
270270
<offsetfrom>RightMiddleFingerProximal</offsetfrom>
271271
<weight>1.0</weight>
@@ -328,7 +328,7 @@
328328
<!-- Dedo índice: falange proximal (02) -->
329329

330330
<Body name="RightIndexFingerProximal" type="dynamic">
331-
<offsetfrom>RightFrontalWrist</offsetfrom>
331+
<offsetfrom>FrontalRightWrist</offsetfrom>
332332
<Translation>0.04794 -0.001 -0.213</Translation>
333333
<RotationAxis>1 0 0 90</RotationAxis>
334334
<RotationAxis>0 1 0 90</RotationAxis>
@@ -342,7 +342,7 @@
342342
</Body>
343343

344344
<Joint circular="false" name="RightIndexFingerProximalJoint" type="hinge">
345-
<Body>RightFrontalWrist</Body>
345+
<Body>FrontalRightWrist</Body>
346346
<Body>RightIndexFingerProximal</Body>
347347
<offsetfrom>RightIndexFingerProximal</offsetfrom>
348348
<weight>1.0</weight>

‎openrave/teo/teo.robot.xml

+6-6
Original file line numberDiff line numberDiff line change
@@ -45,32 +45,32 @@
4545
</Manipulator>
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4747
<Manipulator name="rightArm">
48-
<effector>r1Man</effector> <!-- last link where end effector is attached-->
48+
<effector>RightArmTCP</effector> <!-- last link where end effector is attached-->
4949
<base>FrontalWaist</base> <!-- base link-->
5050
</Manipulator>
5151

5252
<Manipulator name="trunkAndRightArm">
53-
<effector>r1Man</effector> <!-- last link where end effector is attached-->
53+
<effector>RightArmTCP</effector> <!-- last link where end effector is attached-->
5454
<base>RootWaist</base> <!-- base link-->
5555
</Manipulator>
5656

5757
<Manipulator name="leftArm">
58-
<effector>r2Man</effector> <!-- last link where end effector is attached-->
58+
<effector>LeftArmTCP</effector> <!-- last link where end effector is attached-->
5959
<base>FrontalWaist</base> <!-- base link-->
6060
</Manipulator>
6161

6262
<Manipulator name="trunkAndLeftArm">
63-
<effector>r2Man</effector> <!-- last link where end effector is attached-->
63+
<effector>LeftArmTCP</effector> <!-- last link where end effector is attached-->
6464
<base>RootWaist</base> <!-- base link-->
6565
</Manipulator>
6666

6767
<Manipulator name="rightLeg">
68-
<effector>r5Man</effector> <!-- last link where end effector is attached-->
68+
<effector>RightLegTCP</effector> <!-- last link where end effector is attached-->
6969
<base>RootWaist</base> <!-- base link-->
7070
</Manipulator>
7171

7272
<Manipulator name="leftLeg">
73-
<effector>r6Man</effector> <!-- last link where end effector is attached-->
73+
<effector>LeftLegTCP</effector> <!-- last link where end effector is attached-->
7474
<base>RootWaist</base> <!-- base link-->
7575
</Manipulator>
7676

‎openrave/teo/teo_dextra.robot.xml

+10-10
Original file line numberDiff line numberDiff line change
@@ -1,18 +1,18 @@
1-
<Robot name="teo_dextra">
1+
<robot name="teoSim">
22

3-
<robot file="teo.robot.xml"></robot>
3+
<robot name="teo" file="teo.robot.xml"></robot>
44

55
<robot file="leftDextra.robot.xml">
66
</robot>
77

88
<kinbody>
9-
<body name="LeftFrontalWrist">
10-
<offsetfrom>r1Man</offsetfrom>
9+
<body name="FrontalLeftWrist">
10+
<offsetfrom>RightArmTCP</offsetfrom>
1111
<translation>0 0 0.2</translation>
1212
</body>
1313
<joint name="TeoToLeftDextra" type="hinge" enable="false">
14-
<body>r1Man</body>
15-
<body>LeftFrontalWrist</body>
14+
<body>RightArmTCP</body>
15+
<body>FrontalLeftWrist</body>
1616
<limits>0 0</limits>
1717
</joint>
1818
</kinbody>
@@ -21,13 +21,13 @@
2121
</robot>
2222

2323
<kinbody>
24-
<body name="RightFrontalWrist">
25-
<offsetfrom>r2Man</offsetfrom>
24+
<body name="FrontalRightWrist">
25+
<offsetfrom>LeftArmTCP</offsetfrom>
2626
<translation>0 0 0.2</translation>
2727
</body>
2828
<joint name="TeoToRightDextra" type="hinge" enable="false">
29-
<body>r2Man</body>
30-
<body>RightFrontalWrist</body>
29+
<body>LeftArmTCP</body>
30+
<body>FrontalRightWrist</body>
3131
<limits>0 0</limits>
3232
</joint>
3333
</kinbody>

‎openrave/teo/teo_lacqueyFetch.robot.xml

+16-17
Original file line numberDiff line numberDiff line change
@@ -1,35 +1,34 @@
1-
<Robot name="teo_lacqueyFetch">
1+
<robot name="teoSim">
22

3-
<robot file="teo.robot.xml"></robot>
3+
<robot name="teo" file="teo.robot.xml"></robot>
44

5-
<robot prefix="left_" file="lacqueyFetch.robot.xml">
5+
<robot prefix="right_" file="lacqueyFetch.robot.xml"> <!-- name="leftLacqueyFetch" -->
66
</robot>
77

88
<kinbody>
9-
<body name="left_FrontalWrist">
10-
<offsetfrom>r1Man</offsetfrom>
9+
<body name="right_FrontalWrist">
10+
<offsetfrom>RightArmTCP</offsetfrom>
1111
<translation>0 0 0.2</translation>
1212
</body>
13-
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
14-
<body>r1Man</body>
15-
<body>left_FrontalWrist</body>
13+
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
14+
<body>RightArmTCP</body>
15+
<body>right_FrontalWrist</body>
1616
<limits>0 0</limits>
1717
</joint>
1818
</kinbody>
1919

20-
<robot prefix="right_" file="lacqueyFetch.robot.xml"> <!-- name="leftLacqueyFetch" -->
21-
</robot>
22-
20+
<robot prefix="left_" file="lacqueyFetch.robot.xml">
21+
</robot>
2322
<kinbody>
24-
<body name="right_FrontalWrist">
25-
<offsetfrom>r2Man</offsetfrom>
23+
<body name="left_FrontalWrist">
24+
<offsetfrom>LeftArmTCP</offsetfrom>
2625
<translation>0 0 0.2</translation>
2726
</body>
28-
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
29-
<body>r2Man</body>
30-
<body>right_FrontalWrist</body>
27+
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
28+
<body>LeftArmTCP</body>
29+
<body>left_FrontalWrist</body>
3130
<limits>0 0</limits>
3231
</joint>
3332
</kinbody>
3433

35-
</Robot>
34+
</robot>

‎openrave/teo/teo_lacqueyFetch_rotated.robot.xml

+16-16
Original file line numberDiff line numberDiff line change
@@ -1,37 +1,37 @@
1-
<Robot name="teo_lacqueyFetch_rotated">
1+
<robot name="teoSim">
22

3-
<robot file="teo.robot.xml"></robot>
4-
5-
<robot prefix="left_" file="lacqueyFetch.robot.xml">
3+
<robot name="teo" file="teo.robot.xml"></robot>
4+
5+
<robot prefix="right_" file="lacqueyFetch.robot.xml"> <!-- name="leftLacqueyFetch" -->
66
</robot>
77

88
<kinbody>
9-
<body name="left_FrontalWrist">
10-
<offsetfrom>r1Man</offsetfrom>
9+
<body name="right_FrontalWrist">
10+
<offsetfrom>RightArmTCP</offsetfrom>
1111
<translation>0 0 0.2</translation>
1212
<RotationAxis>0 0 1 90</RotationAxis>
1313
</body>
14-
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
15-
<body>r1Man</body>
16-
<body>left_FrontalWrist</body>
14+
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
15+
<body>RightArmTCP</body>
16+
<body>right_FrontalWrist</body>
1717
<limits>0 0</limits>
1818
</joint>
1919
</kinbody>
2020

21-
<robot prefix="right_" file="lacqueyFetch.robot.xml"> <!-- name="leftLacqueyFetch" -->
21+
<robot prefix="left_" file="lacqueyFetch.robot.xml">
2222
</robot>
2323

2424
<kinbody>
25-
<body name="right_FrontalWrist">
26-
<offsetfrom>r2Man</offsetfrom>
25+
<body name="left_FrontalWrist">
26+
<offsetfrom>LeftArmTCP</offsetfrom>
2727
<translation>0 0 0.2</translation>
2828
<RotationAxis>0 0 1 -90</RotationAxis>
2929
</body>
30-
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
31-
<body>r2Man</body>
32-
<body>right_FrontalWrist</body>
30+
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
31+
<body>LeftArmTCP</body>
32+
<body>left_FrontalWrist</body>
3333
<limits>0 0</limits>
3434
</joint>
3535
</kinbody>
3636

37-
</Robot>
37+
</robot>

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