Changed skin frameReferenceLink to r_foot and l_foot as l_sole and r_…

…sole are not links and the generated model would not take into account the new skin frames. See robotology#98 (comment)

simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in

@@ -397,154 +397,154 @@ exportedFrames:
     frameReferenceLink: r_lower_leg
     exportedFrameName: r_lower_leg_skin_21
   - frameName: SCSYS_R_FOOT_SKIN_9
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_9
   - frameName: SCSYS_R_FOOT_SKIN_8
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_8
   - frameName: SCSYS_R_FOOT_SKIN_10
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_10
   - frameName: SCSYS_R_FOOT_SKIN_11
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_11
   - frameName: SCSYS_R_FOOT_SKIN_12
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_12
   - frameName: SCSYS_R_FOOT_SKIN_13
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_13
   - frameName: SCSYS_R_FOOT_SKIN_1
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_1
   - frameName: SCSYS_R_FOOT_SKIN_2
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_2
   - frameName: SCSYS_R_FOOT_SKIN_3
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_3
   - frameName: SCSYS_R_FOOT_SKIN_4
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_4
   - frameName: SCSYS_R_FOOT_SKIN_0
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_0
   - frameName: SCSYS_R_FOOT_SKIN_15
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_15
   - frameName: SCSYS_R_FOOT_SKIN_14
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_14
   - frameName: SCSYS_R_FOOT_SKIN_21
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_21
   - frameName: SCSYS_R_FOOT_SKIN_26
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_26
   - frameName: SCSYS_R_FOOT_SKIN_27
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_27
   - frameName: SCSYS_R_FOOT_SKIN_28
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_28
   - frameName: SCSYS_R_FOOT_SKIN_17
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_17
   - frameName: SCSYS_R_FOOT_SKIN_18
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_18
   - frameName: SCSYS_R_FOOT_SKIN_19
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_19
   - frameName: SCSYS_R_FOOT_SKIN_20
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_20
   - frameName: SCSYS_R_FOOT_SKIN_29
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_29
   - frameName: SCSYS_R_FOOT_SKIN_24
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_24
   - frameName: SCSYS_R_FOOT_SKIN_25
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_25
   - frameName: SCSYS_R_FOOT_SKIN_22
-    frameReferenceLink: r_sole
+    frameReferenceLink: r_foot
     exportedFrameName: r_sole_skin_22
   - frameName: SCSYS_L_FOOT_SKIN_9
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_9
   - frameName: SCSYS_L_FOOT_SKIN_10
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_10
   - frameName: SCSYS_L_FOOT_SKIN_11
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_11
   - frameName: SCSYS_L_FOOT_SKIN_12
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_12
   - frameName: SCSYS_L_FOOT_SKIN_13
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_13
   - frameName: SCSYS_L_FOOT_SKIN_8
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_8
   - frameName: SCSYS_L_FOOT_SKIN_1
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_1
   - frameName: SCSYS_L_FOOT_SKIN_0
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_0
   - frameName: SCSYS_L_FOOT_SKIN_15
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_15
   - frameName: SCSYS_L_FOOT_SKIN_14
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_14
   - frameName: SCSYS_L_FOOT_SKIN_2
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_2
   - frameName: SCSYS_L_FOOT_SKIN_3
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_3
   - frameName: SCSYS_L_FOOT_SKIN_4
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_4
   - frameName: SCSYS_L_FOOT_SKIN_21
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_21
   - frameName: SCSYS_L_FOOT_SKIN_26
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_26
   - frameName: SCSYS_L_FOOT_SKIN_27
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_27
   - frameName: SCSYS_L_FOOT_SKIN_28
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_28
   - frameName: SCSYS_L_FOOT_SKIN_17
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_17
   - frameName: SCSYS_L_FOOT_SKIN_18
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_18
   - frameName: SCSYS_L_FOOT_SKIN_19
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_19
   - frameName: SCSYS_L_FOOT_SKIN_20
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_20
   - frameName: SCSYS_L_FOOT_SKIN_29
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_29
   - frameName: SCSYS_L_FOOT_SKIN_24
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_24
   - frameName: SCSYS_L_FOOT_SKIN_25
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_25
   - frameName: SCSYS_L_FOOT_SKIN_22
-    frameReferenceLink: l_sole
+    frameReferenceLink: l_foot
     exportedFrameName: l_sole_skin_22
 @XSENS_IMU_FRAME@