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rename '*Man' to respect conventions/semantics
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- #36
- Mainly links: roboticslab-uc3m/teo-main#37
- Also joints: roboticslab-uc3m/teo-main#44
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@jgvictores
jgvictores committed Nov 13, 2019
1 parent 1da0625 commit 320b0f4
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Showing 8 changed files with 28 additions and 28 deletions.
12 changes: 6 additions & 6 deletions openrave/teo/teo.robot.xml
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Expand Up @@ -45,32 +45,32 @@
</Manipulator>

<Manipulator name="rightArm">
<effector>r1Man</effector> <!-- last link where end effector is attached-->
<effector>RightArmTCP</effector> <!-- last link where end effector is attached-->
<base>FrontalWaist</base> <!-- base link-->
</Manipulator>

<Manipulator name="trunkAndRightArm">
<effector>r1Man</effector> <!-- last link where end effector is attached-->
<effector>RightArmTCP</effector> <!-- last link where end effector is attached-->
<base>RootWaist</base> <!-- base link-->
</Manipulator>

<Manipulator name="leftArm">
<effector>r2Man</effector> <!-- last link where end effector is attached-->
<effector>LeftArmTCP</effector> <!-- last link where end effector is attached-->
<base>FrontalWaist</base> <!-- base link-->
</Manipulator>

<Manipulator name="trunkAndLeftArm">
<effector>r2Man</effector> <!-- last link where end effector is attached-->
<effector>LeftArmTCP</effector> <!-- last link where end effector is attached-->
<base>RootWaist</base> <!-- base link-->
</Manipulator>

<Manipulator name="rightLeg">
<effector>r5Man</effector> <!-- last link where end effector is attached-->
<effector>RightLegTCP</effector> <!-- last link where end effector is attached-->
<base>RootWaist</base> <!-- base link-->
</Manipulator>

<Manipulator name="leftLeg">
<effector>r6Man</effector> <!-- last link where end effector is attached-->
<effector>LeftLegTCP</effector> <!-- last link where end effector is attached-->
<base>RootWaist</base> <!-- base link-->
</Manipulator>

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8 changes: 4 additions & 4 deletions openrave/teo/teo_dextra.robot.xml
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Expand Up @@ -7,11 +7,11 @@

<kinbody>
<body name="FrontalLeftWrist">
<offsetfrom>r1Man</offsetfrom>
<offsetfrom>RightArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
</body>
<joint name="TeoToLeftDextra" type="hinge" enable="false">
<body>r1Man</body>
<body>RightArmTCP</body>
<body>FrontalLeftWrist</body>
<limits>0 0</limits>
</joint>
Expand All @@ -22,11 +22,11 @@

<kinbody>
<body name="FrontalRightWrist">
<offsetfrom>r2Man</offsetfrom>
<offsetfrom>LeftArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
</body>
<joint name="TeoToRightDextra" type="hinge" enable="false">
<body>r2Man</body>
<body>LeftArmTCP</body>
<body>FrontalRightWrist</body>
<limits>0 0</limits>
</joint>
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8 changes: 4 additions & 4 deletions openrave/teo/teo_lacqueyFetch.robot.xml
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Expand Up @@ -7,11 +7,11 @@

<kinbody>
<body name="right_FrontalWrist">
<offsetfrom>r1Man</offsetfrom>
<offsetfrom>RightArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
</body>
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
<body>r1Man</body>
<body>RightArmTCP</body>
<body>right_FrontalWrist</body>
<limits>0 0</limits>
</joint>
Expand All @@ -21,11 +21,11 @@
</robot>
<kinbody>
<body name="left_FrontalWrist">
<offsetfrom>r2Man</offsetfrom>
<offsetfrom>LeftArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
</body>
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
<body>r2Man</body>
<body>LeftArmTCP</body>
<body>left_FrontalWrist</body>
<limits>0 0</limits>
</joint>
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8 changes: 4 additions & 4 deletions openrave/teo/teo_lacqueyFetch_rotated.robot.xml
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Expand Up @@ -7,12 +7,12 @@

<kinbody>
<body name="right_FrontalWrist">
<offsetfrom>r1Man</offsetfrom>
<offsetfrom>RightArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
<RotationAxis>0 0 1 90</RotationAxis>
</body>
<joint name="TeoToRightLacqueyFetch" type="hinge" enable="false">
<body>r1Man</body>
<body>RightArmTCP</body>
<body>right_FrontalWrist</body>
<limits>0 0</limits>
</joint>
Expand All @@ -23,12 +23,12 @@

<kinbody>
<body name="left_FrontalWrist">
<offsetfrom>r2Man</offsetfrom>
<offsetfrom>LeftArmTCP</offsetfrom>
<translation>0 0 0.2</translation>
<RotationAxis>0 0 1 -90</RotationAxis>
</body>
<joint name="TeoToLeftLacqueyFetch" type="hinge" enable="false">
<body>r2Man</body>
<body>LeftArmTCP</body>
<body>left_FrontalWrist</body>
<limits>0 0</limits>
</joint>
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6 changes: 3 additions & 3 deletions openrave/teo/teo_leftArm.kinbody.xml
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Expand Up @@ -144,14 +144,14 @@

<!-- TCP (effector) -->

<Body name="r2Man" type="dynamic">
<Body name="LeftArmTCP" type="dynamic">
<offsetfrom>FrontalLeftWrist</offsetfrom>
<Translation>0 0 -0.2</Translation>
</Body>

<Joint name="q2Man" type="hinge" enable="False">
<Joint name="LeftArmTCP" type="hinge" enable="False">
<Body>FrontalLeftWrist</Body>
<Body>r2Man</Body>
<Body>LeftArmTCP</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>

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4 changes: 2 additions & 2 deletions openrave/teo/teo_leftLeg.kinbody.xml
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Expand Up @@ -157,14 +157,14 @@
</Joint>


<Body name="r6Man" type="dynamic">
<Body name="LeftLegTCP" type="dynamic">
<offsetfrom>SaggitalLeftAnkle</offsetfrom>
<Translation>0 0 -0.123</Translation>
</Body>

<Joint name="q6Man" type="hinge" enable="False">
<Body>SaggitalLeftAnkle</Body>
<Body>r6Man</Body>
<Body>LeftLegTCP</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>

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6 changes: 3 additions & 3 deletions openrave/teo/teo_rightArm.kinbody.xml
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Expand Up @@ -143,14 +143,14 @@

<!-- TCP (effector) -->

<Body name="r1Man" type="dynamic">
<Body name="RightArmTCP" type="dynamic">
<offsetfrom>FrontalRightWrist</offsetfrom>
<Translation>0 0 -0.2</Translation>
</Body>

<Joint name="q1Man" type="hinge" enable="False">
<Joint name="RightArmTCP" type="hinge" enable="False">
<Body>FrontalRightWrist</Body>
<Body>r1Man</Body>
<Body>RightArmTCP</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>

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4 changes: 2 additions & 2 deletions openrave/teo/teo_rightLeg.kinbody.xml
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Expand Up @@ -154,14 +154,14 @@
<resolution>1</resolution>
</Joint>

<Body name="r5Man" type="dynamic">
<Body name="RightLegTCP" type="dynamic">
<offsetfrom>SaggitalRightAnkle</offsetfrom>
<Translation>0 0 -0.123</Translation>
</Body>

<Joint name="q5Man" type="hinge" enable="False">
<Body>SaggitalRightAnkle</Body>
<Body>r5Man</Body>
<Body>RightLegTCP</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>

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