Complete robotStateMemoryConfig

data/RobotAPI/robotStateMemoryConfig.txt

 // 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