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Draft: Make RobotStateMemory ready

Merged Draft: Make RobotStateMemory ready
armem/robot-state-memory into master
Merged Rainer Kartmann requested to merge armem/robot-state-memory into master
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data/RobotAPI/robotStateMemoryConfig.txt
+ 225
− 3
// Configuration set for the Humanoid Robot ARMAR-6
// Left Hand unit
// Reft Hand
sens.Index L 1 Joint.acceleration => HandL
sens.Index L 1 Joint.gravityTorque => HandL
sens.Index L 1 Joint.inertiaTorque => HandL
@@ -103,7 +105,9 @@ sens.Thumb L 2 Joint.position => HandL
sens.Thumb L 2 Joint.torque => HandL
sens.Thumb L 2 Joint.velocity => HandL
// Right Hand unit
// Right Hand
sens.Index R 1 Joint.acceleration => HandR
sens.Index R 1 Joint.gravityTorque => HandR
sens.Index R 1 Joint.inertiaTorque => HandR
@@ -185,7 +189,165 @@ sens.Thumb R 2 Joint.position => HandR
sens.Thumb R 2 Joint.torque => HandR
sens.Thumb R 2 Joint.velocity => HandR
sens.Pinky R 1 Joint.acceleration => HandR
sens.Pinky R 1 Joint.gravityTorque => HandR
sens.Pinky R 1 Joint.inertiaTorque => HandR
sens.Pinky R 1 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 1 Joint.position => HandR
sens.Pinky R 1 Joint.torque => HandR
sens.Pinky R 1 Joint.velocity => HandR
sens.Pinky R 2 Joint.acceleration => HandR
sens.Pinky R 2 Joint.gravityTorque => HandR
sens.Pinky R 2 Joint.inertiaTorque => HandR
sens.Pinky R 2 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 2 Joint.position => HandR
sens.Pinky R 2 Joint.torque => HandR
sens.Pinky R 2 Joint.velocity => HandR
sens.Pinky R 3 Joint.acceleration => HandR
sens.Pinky R 3 Joint.gravityTorque => HandR
sens.Pinky R 3 Joint.inertiaTorque => HandR
sens.Pinky R 3 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 3 Joint.position => HandR
sens.Pinky R 3 Joint.torque => HandR
sens.Pinky R 3 Joint.velocity => HandR
// Arm L
sens.ArmL1_Cla1.acceleration => ArmL
sens.ArmL1_Cla1.gravityTorque => ArmL
sens.ArmL1_Cla1.inertiaTorque => ArmL
sens.ArmL1_Cla1.inverseDynamicsTorque => ArmL
sens.ArmL1_Cla1.position => ArmL
sens.ArmL1_Cla1.torque => ArmL
sens.ArmL1_Cla1.velocity => ArmL
sens.ArmL2_Sho1.acceleration => ArmL
sens.ArmL2_Sho1.gravityTorque => ArmL
sens.ArmL2_Sho1.inertiaTorque => ArmL
sens.ArmL2_Sho1.inverseDynamicsTorque => ArmL
sens.ArmL2_Sho1.position => ArmL
sens.ArmL2_Sho1.torque => ArmL
sens.ArmL2_Sho1.velocity => ArmL
sens.ArmL3_Sho2.acceleration => ArmL
sens.ArmL3_Sho2.gravityTorque => ArmL
sens.ArmL3_Sho2.inertiaTorque => ArmL
sens.ArmL3_Sho2.inverseDynamicsTorque => ArmL
sens.ArmL3_Sho2.position => ArmL
sens.ArmL3_Sho2.torque => ArmL
sens.ArmL3_Sho2.velocity => ArmL
sens.ArmL4_Sho3.acceleration => ArmL
sens.ArmL4_Sho3.gravityTorque => ArmL
sens.ArmL4_Sho3.inertiaTorque => ArmL
sens.ArmL4_Sho3.inverseDynamicsTorque => ArmL
sens.ArmL4_Sho3.position => ArmL
sens.ArmL4_Sho3.torque => ArmL
sens.ArmL4_Sho3.velocity => ArmL
sens.ArmL5_Elb1.acceleration => ArmL
sens.ArmL5_Elb1.gravityTorque => ArmL
sens.ArmL5_Elb1.inertiaTorque => ArmL
sens.ArmL5_Elb1.inverseDynamicsTorque => ArmL
sens.ArmL5_Elb1.position => ArmL
sens.ArmL5_Elb1.torque => ArmL
sens.ArmL5_Elb1.velocity => ArmL
sens.ArmL6_Elb2.acceleration => ArmL
sens.ArmL6_Elb2.gravityTorque => ArmL
sens.ArmL6_Elb2.inertiaTorque => ArmL
sens.ArmL6_Elb2.inverseDynamicsTorque => ArmL
sens.ArmL6_Elb2.position => ArmL
sens.ArmL6_Elb2.torque => ArmL
sens.ArmL6_Elb2.velocity => ArmL
sens.ArmL7_Wri1.acceleration => ArmL
sens.ArmL7_Wri1.gravityTorque => ArmL
sens.ArmL7_Wri1.inertiaTorque => ArmL
sens.ArmL7_Wri1.inverseDynamicsTorque => ArmL
sens.ArmL7_Wri1.position => ArmL
sens.ArmL7_Wri1.torque => ArmL
sens.ArmL7_Wri1.velocity => ArmL
sens.ArmL8_Wri2.acceleration => ArmL
sens.ArmL8_Wri2.gravityTorque => ArmL
sens.ArmL8_Wri2.inertiaTorque => ArmL
sens.ArmL8_Wri2.inverseDynamicsTorque => ArmL
sens.ArmL8_Wri2.position => ArmL
sens.ArmL8_Wri2.torque => ArmL
sens.ArmL8_Wri2.velocity => ArmL
// Arm R
sens.ArmR1_Cla1.acceleration => ArmR
sens.ArmR1_Cla1.gravityTorque => ArmR
sens.ArmR1_Cla1.inertiaTorque => ArmR
sens.ArmR1_Cla1.inverseDynamicsTorque => ArmR
sens.ArmR1_Cla1.position => ArmR
sens.ArmR1_Cla1.torque => ArmR
sens.ArmR1_Cla1.velocity => ArmR
sens.ArmR2_Sho1.acceleration => ArmR
sens.ArmR2_Sho1.gravityTorque => ArmR
sens.ArmR2_Sho1.inertiaTorque => ArmR
sens.ArmR2_Sho1.inverseDynamicsTorque => ArmR
sens.ArmR2_Sho1.position => ArmR
sens.ArmR2_Sho1.torque => ArmR
sens.ArmR2_Sho1.velocity => ArmR
sens.ArmR3_Sho2.acceleration => ArmR
sens.ArmR3_Sho2.gravityTorque => ArmR
sens.ArmR3_Sho2.inertiaTorque => ArmR
sens.ArmR3_Sho2.inverseDynamicsTorque => ArmR
sens.ArmR3_Sho2.position => ArmR
sens.ArmR3_Sho2.torque => ArmR
sens.ArmR3_Sho2.velocity => ArmR
sens.ArmR4_Sho3.acceleration => ArmR
sens.ArmR4_Sho3.gravityTorque => ArmR
sens.ArmR4_Sho3.inertiaTorque => ArmR
sens.ArmR4_Sho3.inverseDynamicsTorque => ArmR
sens.ArmR4_Sho3.position => ArmR
sens.ArmR4_Sho3.torque => ArmR
sens.ArmR4_Sho3.velocity => ArmR
sens.ArmR5_Elb1.acceleration => ArmR
sens.ArmR5_Elb1.gravityTorque => ArmR
sens.ArmR5_Elb1.inertiaTorque => ArmR
sens.ArmR5_Elb1.inverseDynamicsTorque => ArmR
sens.ArmR5_Elb1.position => ArmR
sens.ArmR5_Elb1.torque => ArmR
sens.ArmR5_Elb1.velocity => ArmR
sens.ArmR6_Elb2.acceleration => ArmR
sens.ArmR6_Elb2.gravityTorque => ArmR
sens.ArmR6_Elb2.inertiaTorque => ArmR
sens.ArmR6_Elb2.inverseDynamicsTorque => ArmR
sens.ArmR6_Elb2.position => ArmR
sens.ArmR6_Elb2.torque => ArmR
sens.ArmR6_Elb2.velocity => ArmR
sens.ArmR7_Wri1.acceleration => ArmR
sens.ArmR7_Wri1.gravityTorque => ArmR
sens.ArmR7_Wri1.inertiaTorque => ArmR
sens.ArmR7_Wri1.inverseDynamicsTorque => ArmR
sens.ArmR7_Wri1.position => ArmR
sens.ArmR7_Wri1.torque => ArmR
sens.ArmR7_Wri1.velocity => ArmR
sens.ArmR8_Wri2.acceleration => ArmR
sens.ArmR8_Wri2.gravityTorque => ArmR
sens.ArmR8_Wri2.inertiaTorque => ArmR
sens.ArmR8_Wri2.inverseDynamicsTorque => ArmR
sens.ArmR8_Wri2.position => ArmR
sens.ArmR8_Wri2.torque => ArmR
sens.ArmR8_Wri2.velocity => ArmR
// Neck
sens.Neck_1_Yaw.acceleration => Neck
sens.Neck_1_Yaw.gravityTorque => Neck
sens.Neck_1_Yaw.inertiaTorque => Neck
@@ -193,10 +355,70 @@ sens.Neck_1_Yaw.inverseDynamicsTorque => Neck
sens.Neck_1_Yaw.position => Neck
sens.Neck_1_Yaw.torque => Neck
sens.Neck_1_Yaw.velocity => Neck
sens.Neck_2_Pitch.acceleration => Neck
sens.Neck_2_Pitch.gravityTorque => Neck
sens.Neck_2_Pitch.inertiaTorque => Neck
sens.Neck_2_Pitch.inverseDynamicsTorque
sens.Neck_2_Pitch.inverseDynamicsTorque => Neck
sens.Neck_2_Pitch.position => Neck
sens.Neck_2_Pitch.torque => Neck
sens.Neck_2_Pitch.velocity => Neck
// Torso
sens.TorsoJoint.acceleration => Torso
sens.TorsoJoint.gravityTorque => Torso
sens.TorsoJoint.inertiaTorque => Torso
sens.TorsoJoint.inverseDynamicsTorque => Torso
sens.TorsoJoint.position => Torso
sens.TorsoJoint.torque => Torso
sens.TorsoJoint.velocity => Torso
// Platform
sens.Platform.accelerationX => Platform
sens.Platform.accelerationY => Platform
sens.Platform.accelerationRotation => Platform
sens.Platform.absolutePositionX => Platform
sens.Platform.absolutePositionY => Platform
sens.Platform.absolutePositionRotation => Platform
sens.Platform.relativePositionX => Platform
sens.Platform.relativePositionY => Platform
sens.Platform.relativePositionRotation => Platform
sens.Platform.velocityX => Platform
sens.Platform.velocityY => Platform
sens.Platform.velocityRotation => Platform
// FT L
sens.FT L.fx => FT L
sens.FT L.fy => FT L
sens.FT L.fz => FT L
sens.FT L.gravCompFx => FT L
sens.FT L.gravCompFy => FT L
sens.FT L.gravCompFz => FT L
sens.FT L.gravCompTx => FT L
sens.FT L.gravCompTy => FT L
sens.FT L.gravCompTz => FT L
sens.FT L.tx => FT L
sens.FT L.ty => FT L
sens.FT L.tz => FT L
// FT R
sens.FT R.fx => FT R
sens.FT R.fy => FT R
sens.FT R.fz => FT R
sens.FT R.gravCompFx => FT R
sens.FT R.gravCompFy => FT R
sens.FT R.gravCompFz => FT R
sens.FT R.gravCompTx => FT R
sens.FT R.gravCompTy => FT R
sens.FT R.gravCompTz => FT R
sens.FT R.tx => FT R
sens.FT R.ty => FT R
sens.FT R.tz => FT R