Edited configuration files to specify the wearable local ports

robotology · Sep 16, 2024 · bcff00e · bcff00e
1 parent 40f24d9
commit bcff00e
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Showing 20 changed files with 43 additions and 1 deletion.
diff --git a/app/robots/ergoCubGazeboV1/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubGazeboV1/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubGazeboV1/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubGazeboV1/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN000/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN000/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN000/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN000/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN001/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN001/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN001/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN001/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN002/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN002/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN002/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN002/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubErzelli02/leftFingersHapticRetargetingParams.ini b/app/robots/iCubErzelli02/leftFingersHapticRetargetingParams.ini
@@ -50,6 +50,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubErzelli02/rightFingersHapticRetargetingParams.ini b/app/robots/iCubErzelli02/rightFingersHapticRetargetingParams.ini
@@ -50,6 +50,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV2_5/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV2_5/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV2_5/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV2_5/rightFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV3/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV3/leftFingersHapticRetargetingParams.ini
@@ -61,6 +61,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV3/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV3/rightFingersHapticRetargetingParams.ini
@@ -62,6 +62,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova04/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGenova04/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova04/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGenova04/rightFingersHapticRetargetingParams.ini
@@ -59,6 +59,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova09/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGenova09/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova09/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGenova09/rightFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"
@@ -189,7 +191,7 @@ r_matrix_kf             ( 0.0000001 )
 noTactileSensors        192
 
 ## indices to read from the port for each finger
-##                                     starting index <uint>   ending index <uint>   contact threshold   threshold multiplier   contact feedback gain   derivative threshold   threshold multiplier  gain derivative vibrotactile feedback    
+##                                     starting index <uint>   ending index <uint>   contact threshold   threshold multiplier   contact feedback gain   derivative threshold   threshold multiplier  gain derivative vibrotactile feedback
 r_thumb_finger_tactile_info          ( 48                      59                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 r_index_finger_tactile_info          ( 0                       11                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)
 r_middle_finger_tactile_info         ( 12                      23                    0.14                1.0                    200.0                   0.5                    3.0                   40.0)

diff --git a/app/robots/icubGazeboSim/leftFingersHapticRetargetingParams.ini b/app/robots/icubGazeboSim/leftFingersHapticRetargetingParams.ini
@@ -59,6 +59,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/icubGazeboSim/rightFingersHapticRetargetingParams.ini b/app/robots/icubGazeboSim/rightFingersHapticRetargetingParams.ini
@@ -58,6 +58,10 @@ human_finger_list ( "r_thumb_finger", "r_index_finger", "r_middle_finger", "r_ri
 
 hand_link           r_hand
 
+wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
+
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"