Block [15-DoFs WBI to YARP] indeces are out of range

[hu-yue]

Description:

I haven't used the toolbox since ages, I wanted to use it again today, but I spotted a problem in the 15-DoFs WBI to YARP block. I am assuming that this block is supposed to be used with a robot with reduced number of DOF (iCubHeidelberg), and that therefore the indeces of the joints should go from 1 to 15. Instead in the legs the indeces are 12:17 and 18:23, which are of course out of range if used with iCubHeidelberg. As a side note, also in the block description you still say 23 instead of 15.

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Further Information:

• System Information: Linux yue-ThinkPad-S5-S540 4.4.0-34-generic #53~14.04.1-Ubuntu SMP Wed Jul 27 16:56:40 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux
• Working branch: ``
• Current commit: ``
• YARP ROOT: /home/yue/iCubSW//yarp
• _ICUBROOT: /home/yue/iCubSW//icub-main
• _YARP_DATADIRS: /home/yue/iCubSW//yarp/build/share/yarp:/home/yue/iCubSW//icub-main/build/share/iCub/:/home/yue/iCubSW/icub-tests-Heidelberg01/suits:/home/yue/iCubSW/codyco-superbuild/build/install/share/codyco
• _YARP_ROBOTNAME: iCubHeidelberg01
• Yarp Installation: /usr/local/bin/yarpserver
• _LD_LIBRARYPATH:``
• _LDPRELOAD:``
• _DYLD_INSERTLIBRARIES:``

[francesco-romano]

Hi @hu-yue . These kind of blocks were directly ported from the old toolbox, so I did not modify them when I developed the WB-Toolbox. I'd always wanted to make this kind of block generic, but at the current state I've never managed to. I'll take a look at the current block so to fix it.

[francesco-romano]

@hu-yue can you check if it is all right now, and reopen the issue otherwise?

[hu-yue]

@francesco-romano it works fine, thanks =)