naoqi_tools: pepper_dictionaries.py Source File

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00001 ############################
00002 ######### PEPPER ###########
00003 ############################
00004 Pepper_offsets = {
00005 # Base_footprint
00006 'BaseFootprintOffsetX':0.0,
00007 'BaseFootprintOffsetY':0.0,
00008 'BaseFootprintOffsetZ':-0.334, # KneePitch to Wheel : 0.264 + WheelRadius 0.07
00009 'BaseFootprintRotX':0.0,
00010 'BaseFootprintRotY':0.0,
00011 'BaseFootprintRotZ':0.0,
00012 }
00013 
00014 Pepper_links = {
00015 'HeadYaw_link':'Neck',
00016 'HeadPitch_link':'Head',
00017 'HipRoll_link':'Hip',
00018 'HipPitch_link':'Pelvis',
00019 'KneePitch_link':'Tibia',
00020 'Torso_link':'torso',
00021 'LShoulderPitch_link':'LShoulder',
00022 'RShoulderPitch_link':'RShoulder',
00023 'LShoulderRoll_link':'LBicep',
00024 'RShoulderRoll_link':'RBicep',
00025 'LElbowYaw_link':'LElbow',
00026 'RElbowYaw_link':'RElbow',
00027 'LElbowRoll_link':'LForeArm',
00028 'RElbowRoll_link':'RForeArm',
00029 'LWristYaw_link':'l_wrist',
00030 'RWristYaw_link':'r_wrist',
00031 'LHand_actuator_frame':'l_gripper',
00032 'RHand_actuator_frame':'r_gripper',
00033 
00034 # SENSORS
00035 'Accelerometer_sensor':'ImuTorsoAccelerometer_frame',
00036 'AccelerometerBase_sensor':'ImuBaseAccelerometer_frame',
00037 'GyrometerBase_sensor':'ImuBaseGyrometer_frame',
00038 'Gyrometer_sensor':'ImuTorsoGyrometer_frame',
00039 'CameraBottom_sensor':'CameraBottom_frame',
00040 'CameraDepth_sensor':'CameraDepth_frame',
00041 'CameraTop_sensor':'CameraTop_frame',
00042 'ChestBoard/Button_sensor':'ChestButton_frame',
00043 'Head/Touch/Front_sensor':'HeadTouchFront_frame',
00044 'Head/Touch/Middle_sensor':'HeadTouchMiddle_frame',
00045 'Head/Touch/Rear_sensor':'HeadTouchRear_frame',
00046 'LHand/Touch/Back_sensor':'LHandTouchBack_frame',
00047 'RHand/Touch/Back_sensor':'RHandTouchBack_frame',
00048 'LaserSensor/Front_sensor':'SurroundingFrontLaser_frame',
00049 'LaserSensor/Left_sensor':'SurroundingLeftLaser_frame',
00050 'LaserSensor/Right_sensor':'SurroundingRightLaser_frame',
00051 'LaserSensor/Shovel_sensor':'ShovelLaser_frame',
00052 'LaserSensor/VerticalLeft_sensor':'VerticalLeftLaser_frame',
00053 'LaserSensor/VerticalRight_sensor':'VerticalRightLaser_frame',
00054 'Sonar/Back_sensor':'SonarBack_frame',
00055 'Sonar/Front_sensor':'SonarFront_frame',
00056 'SpeakerLeft_sensor':'LSpeaker_frame',
00057 'SpeakerRight_sensor':'RSpeaker_frame',
00058 'Tablet_sensor':'Tablet_frame',
00059 'Bumper/Back_sensor':'BumperB_frame',
00060 'Bumper/FrontLeft_sensor':'BumperFL_frame',
00061 'Bumper/FrontRight_sensor':'BumperFR_frame',
00062 
00063 }