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Adapt the robots/*/dcm_walking/common/forceTorqueSensors.ini scripts …
…to the latest version of the Library
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8 changes: 4 additions & 4 deletions
8
src/WalkingModule/app/robots/iCubGazeboV2_5/dcm_walking/common/forceTorqueSensors.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| # name of the left and right feet wrench ports | ||
| leftFootWrenchInputPort_name /leftFootWrench:i | ||
| rightFootWrenchInputPort_name /rightFootWrench:i | ||
| left_foot_wrench_input_port_name ("/left_foot/cartesianEndEffectorWrench:i") | ||
| left_foot_wrench_output_port_name ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o") | ||
|
|
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| leftFootWrenchOutputPort_name /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o | ||
| rightFootWrenchOutputPort_name /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o | ||
| right_foot_wrench_input_port_name ("/right_foot/cartesianEndEffectorWrench:i") | ||
| right_foot_wrench_output_port_name ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o") |
8 changes: 4 additions & 4 deletions
8
src/WalkingModule/app/robots/iCubGenova04/dcm_walking/common/forceTorqueSensors.ini
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| # name of the left and right feet wrench ports | ||
| leftFootWrenchInputPort_name /leftFootWrench:i | ||
| rightFootWrenchInputPort_name /rightFootWrench:i | ||
| left_foot_wrench_input_port_name ("/left_foot/cartesianEndEffectorWrench:i") | ||
| left_foot_wrench_output_port_name ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o") | ||
|
|
||
| leftFootWrenchOutputPort_name /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o | ||
| rightFootWrenchOutputPort_name /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o | ||
| right_foot_wrench_input_port_name ("/right_foot/cartesianEndEffectorWrench:i") | ||
| right_foot_wrench_output_port_name ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o") |
8 changes: 4 additions & 4 deletions
8
src/WalkingModule/app/robots/icubGazeboSim/dcm_walking/common/forceTorqueSensors.ini
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| # name of the left and right feet wrench ports | ||
| leftFootWrenchInputPort_name /leftFootWrench:i | ||
| rightFootWrenchInputPort_name /rightFootWrench:i | ||
| left_foot_wrench_input_port_name ("/left_foot/cartesianEndEffectorWrench:i") | ||
| left_foot_wrench_output_port_name ("/wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o") | ||
|
|
||
| leftFootWrenchOutputPort_name /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o | ||
| rightFootWrenchOutputPort_name /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o | ||
| right_foot_wrench_input_port_name ("/right_foot/cartesianEndEffectorWrench:i") | ||
| right_foot_wrench_output_port_name ("/wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o") |