00001 import math
00002 import naoqi_tools.urdf as ur
00003 pi_2 = math.pi/2.0
00004
00005 Nao_offsets = {
00006
00007
00008 'CameraTopV4OffsetX':5.871e-2,
00009 'CameraTopV4OffsetY':0.0,
00010 'CameraTopV4OffsetZ':6.364e-2,
00011 'CameraTopV4RotX':0.0,
00012 'CameraTopV4RotY':2.09e-2,
00013 'CameraTopV4RotZ':0.0,
00014 }
00015
00016 Nao_links = {
00017 u'Torso_link':'torso',
00018 u'HeadYaw_link':'Neck',
00019 u'HeadPitch_link':'Head',
00020 u'LShoulderPitch_link':'LShoulder',
00021 u'RShoulderPitch_link':'RShoulder',
00022 u'LShoulderRoll_link':'LBicep',
00023 u'RShoulderRoll_link':'RBicep',
00024 u'LElbowYaw_link':'LElbow',
00025 u'RElbowYaw_link':'RElbow',
00026 u'LElbowRoll_link':'LForeArm',
00027 u'RElbowRoll_link':'RForeArm',
00028 u'LHipYawPitch_link':'LPelvis',
00029 u'RHipYawPitch_link':'RPelvis',
00030 u'LHipRoll_link':'LHip',
00031 u'RHipRoll_link':'RHip',
00032 u'LHipPitch_link':'LThigh',
00033 u'RHipPitch_link':'RThigh',
00034 u'LKneePitch_link':'LTibia',
00035 u'LAnklePitch_link':'LAnklePitch',
00036 u'RAnklePitch_link':'RAnklePitch',
00037 u'RKneePitch_link':'RTibia',
00038 u'LAnkleRoll_link':'l_ankle',
00039 u'RAnkleRoll_link':'r_ankle',
00040 u'LWristYaw_link':'l_wrist',
00041 u'RWristYaw_link':'r_wrist',
00042 u'LHand_actuator_frame':'l_gripper',
00043 u'RHand_actuator_frame':'r_gripper',
00044 u'LLeg_effector':'l_sole',
00045 u'RLeg_effector':'r_sole',
00046
00047
00048 'RFoot/FSR/FrontLeft_sensor':'RFsrFL_frame',
00049 'RFoot/FSR/RearLeft_sensor':'RFsrRL_frame',
00050 'RFoot/FSR/FrontRight_sensor':'RFsrFR_frame',
00051 'RFoot/FSR/RearRight_sensor':'RFsrRR_frame',
00052 'LFoot/FSR/FrontLeft_sensor':'LFsrFL_frame',
00053 'LFoot/FSR/RearLeft_sensor':'LFsrRL_frame',
00054 'LFoot/FSR/FrontRight_sensor':'LFsrFR_frame',
00055 'LFoot/FSR/RearRight_sensor':'LFsrRR_frame',
00056 'Sonar/Right_sensor':'RSonar_frame',
00057 'Sonar/Left_sensor':'LSonar_frame',
00058 'InfraredL_sensor':'LInfraRed_frame',
00059 'InfraredR_sensor':'RInfraRed_frame',
00060 'CameraTop_sensor':'CameraTop_frame',
00061 'CameraBottom_sensor':'CameraBottom_frame',
00062 'LFoot/Bumper/Left_sensor':'LFootBumperLeft_frame',
00063 'LFoot/Bumper/Right_sensor':'LFootBumperRight_frame',
00064 'RFoot/Bumper/Left_sensor':'RFootBumperLeft_frame',
00065 'RFoot/Bumper/Right_sensor':'RFootBumperRight_frame',
00066 'ChestBoard/Button_sensor':'ChestButton_frame',
00067 'Head/Touch/Front_sensor':'HeadTouchFront_frame',
00068 'Head/Touch/Middle_sensor':'HeadTouchMiddle_frame',
00069 'Head/Touch/Rear_sensor':'HeadTouchRear_frame',
00070 'LHand/Touch/Left_sensor':'LHandTouchLeft_frame',
00071 'LHand/Touch/Back_sensor':'LHandTouchBack_frame',
00072 'LHand/Touch/Right_sensor':'LHandTouchRight_frame',
00073 'RHand/Touch/Left_sensor':'RHandTouchLeft_frame',
00074 'RHand/Touch/Back_sensor':'RHandTouchBack_frame',
00075 'RHand/Touch/Right_sensor':'RHandTouchRight_frame',
00076 'Accelerometer_sensor':'ImuTorsoAccelerometer_frame',
00077 'Gyrometer_sensor':'ImuTorsoGyrometer_frame',
00078 'MicroFront_sensor':'MicroFrontCenter_frame',
00079 'MicroRear_sensor':'MicroRearCenter_frame',
00080 'MicroLeft_sensor':'MicroSurroundLeft_frame',
00081 'MicroRight_sensor':'MicroSurroundRight_frame',
00082 }
00083
00084 Nao_visu = {
00085 u'Torso_link': ur.Cylinder(0.015,0.2115),
00086 u'HeadPitch_link':ur.Cylinder(0.04,0.14),
00087 u'LShoulderRoll_link':ur.Cylinder(0.015,0.09),
00088 u'LElbowRoll_link': ur.Cylinder(0.015,0.05065),
00089 u'LHipPitch_link': ur.Cylinder(0.015,0.1),
00090 u'LKneePitch_link': ur.Cylinder(0.015,0.1),
00091 u'RHipPitch_link': ur.Cylinder(0.015,0.1),
00092 u'RKneePitch_link': ur.Cylinder(0.015,0.1),
00093 u'RShoulderRoll_link': ur.Cylinder(0.015,0.09),
00094 u'RElbowRoll_link': ur.Cylinder(0.015,0.05065),
00095 u'LAnkleRoll_link': ur.Box((0.16,0.06,0.015)),
00096 u'RAnkleRoll_link': ur.Box((0.16,0.06,0.015)),
00097 u'LWristYaw_link': ur.Cylinder(0.015,0.058),
00098 u'RWristYaw_link': ur.Cylinder(0.015,0.058),
00099 }
00100
00101 Nao_orig= {
00102 u'Torso_link': ur.Pose((0,0,0.02075),(0,0,0)),
00103 u'HeadPitch_link': ur.Pose((0,0,0.058),(pi_2,0,0)),
00104 u'LShoulderRoll_link': ur.Pose((0.045,0,0),(pi_2,0,pi_2)),
00105 u'LElbowRoll_link': ur.Pose((0.025325,0,0),(pi_2,0,pi_2)),
00106 u'LHipPitch_link': ur.Pose((0,0,-0.05),(0,0,0)),
00107 u'LKneePitch_link': ur.Pose((0,0,-0.05),(0,0,0)),
00108 u'RHipPitch_link': ur.Pose((0,0,-0.05),(0,0,0)),
00109 u'RKneePitch_link': ur.Pose((0,0,-0.05),(0,0,0)),
00110 u'RShoulderRoll_link': ur.Pose((0.045,0,0),(pi_2,0,pi_2)),
00111 u'RElbowRoll_link': ur.Pose((0.025325,0,0),(pi_2,0,pi_2)),
00112 u'LAnkleRoll_link': ur.Pose((0.02,0,0.0075),(0,0,0)),
00113 u'RAnkleRoll_link': ur.Pose((0.02,0,0.0075),(0,0,0)),
00114 u'LWristYaw_link': ur.Pose((0.029,0,0),(pi_2,0,pi_2)),
00115 u'RWristYaw_link': ur.Pose((0.029,0,0),(pi_2,0,pi_2)),
00116 }
00117