00001
00002
00003
00004
00005 Romeo_offsets = {
00006 'CameraLeftEyeOffsetX':0.10247 ,
00007 'CameraLeftEyeOffsetZ':0.05425 ,
00008 }
00009
00010 Romeo_links = {
00011 'Torso_link':'torso',
00012 'LShoulderPitch_link':'LShoulder',
00013 'RShoulderPitch_link':'RShoulder',
00014 'LElbowRoll_link':'LForeArm',
00015 'RElbowRoll_link':'RForeArm',
00016 'LElbowYaw_link':'LElbow',
00017 'RElbowYaw_link':'RElbow',
00018 'TrunkYaw_link':'body',
00019 'LHipRoll_link':'LHip',
00020 'RHipRoll_link':'RHip',
00021 'LHipPitch_link':'LThigh',
00022 'RHipPitch_link':'RThigh',
00023 'LKneePitch_link':'LTibia',
00024 'RKneePitch_link':'RTibia',
00025 'LAnkleRoll_link':'l_ankle',
00026 'RAnkleRoll_link':'r_ankle',
00027 'LWristPitch_link':'l_wrist',
00028 'RWristPitch_link':'r_wrist',
00029 'LHand_actuator_frame':'l_gripper',
00030 'RHand_actuator_frame':'r_gripper',
00031 'LEyePitch_link':'LEye',
00032 'REyePitch_link':'REye',
00033 'LLeg_effector':'l_sole',
00034 'RLeg_effector':'r_sole',
00035
00036
00037 'AccelerometerDownTorso_sensor':'ImuTorsoAccelerometer_frame',
00038 'AccelerometerHead_sensor':'ImuHeadAccelerometer_frame',
00039 'GyrometerDownTorso_sensor':'ImuTorsoGyrometer_frame',
00040 'GyrometerHead_sensor':'ImuHeadGyrometer_frame',
00041 'LFoot/FSR/CenterFront_sensor':'LFsrFrontCenter_frame',
00042 'LFoot/FSR/CenterRear_sensor':'LFsrRearCenter_frame',
00043 'LFoot/FSR/HeelLeft_sensor':'LFsrHeelLeft_frame',
00044 'LFoot/FSR/HeelRight_sensor':'LFsrHeelRight_frame',
00045 'LFoot/FSR/ToeFrontLeft_sensor':'LFsrFToeFrontLeft_frame',
00046 'LFoot/FSR/ToeRearLeft_sensor':'LFsrFToeRearLeft_frame',
00047 'LFoot/FSR/ToeFrontRight_sensor':'LFsrFToeFrontRight_frame',
00048 'LFoot/FSR/ToeRearRight_sensor':'LFsrFToeRearRight_frame',
00049 'RFoot/FSR/CenterFront_sensor':'RFsrFrontCenter_frame',
00050 'RFoot/FSR/CenterRear_sensor':'RFsrRearCenter_frame',
00051 'RFoot/FSR/HeelLeft_sensor':'RFsrHeelLeft_frame',
00052 'RFoot/FSR/HeelRight_sensor':'RFsrHeelRight_frame',
00053 'RFoot/FSR/ToeFrontLeft_sensor':'RFsrFToeFrontLeft_frame',
00054 'RFoot/FSR/ToeRearLeft_sensor':'RFsrFToeRearLeft_frame',
00055 'RFoot/FSR/ToeFrontRight_sensor':'RFsrFToeFrontRight_frame',
00056 'RFoot/FSR/ToeRearRight_sensor':'RFsrFToeRearRight_frame',
00057 'CameraLeft_sensor':'CameraLeft_frame',
00058 'CameraLeftEye_sensor':'CameraLeftEye_frame',
00059 'CameraRight_sensor':'CameraRight_frame',
00060 'CameraRightEye_sensor':'CameraRightEye_frame',
00061
00062 }
00063
00064 Nao_links = {
00065 'RFoot/FSR/FrontLeft_frame':'RFsrFL_frame',
00066 'RFoot/FSR/RearLeft_frame':'RFsrRL_frame',
00067 'RFoot/FSR/FrontRight_frame':'RFsrFR_frame',
00068 'RFoot/FSR/RearRight_frame':'RFsrRR_frame',
00069 'LFoot/FSR/FrontLeft_frame':'LFsrFL_frame',
00070 'LFoot/FSR/RearLeft_frame':'LFsrRL_frame',
00071 'LFoot/FSR/FrontRight_frame':'LFsrFR_frame',
00072 'LFoot/FSR/RearRight_frame':'LFsrRR_frame',
00073 'Sonar/Right_frame':'LSonar_frame',
00074 'Sonar/Left_frame':'RSonar_frame',
00075 'InfraredL_frame':'LInfraRed_frame',
00076 'InfraredR_frame':'RInfraRed_frame',
00077 'CameraTop_frame':'CameraTop_frame',
00078 'CameraBottom_frame':'CameraBottom_frame',
00079 'LFoot/Bumper/Left_frame':'LFootBumperLeft_frame',
00080 'LFoot/Bumper/Right_frame':'LFootBumperRight_frame',
00081 'RFoot/Bumper/Left_frame':'RFootBumperLeft_frame',
00082 'RFoot/Bumper/Right_frame':'RFootBumperRight_frame',
00083 'ChestBoard/Button_frame':'ChestButton_frame',
00084 'Head/Touch/Front_frame':'HeadTouchFront_frame',
00085 'Head/Touch/Middle_frame':'HeadTouchMiddle_frame',
00086 'Head/Touch/Rear_frame':'HeadTouchRear_frame',
00087 'LHand/Touch/Left_frame':'LHandTouchLeft_frame',
00088 'LHand/Touch/Back_frame':'LHandTouchBack_frame',
00089 'LHand/Touch/Right_frame':'LHandTouchRight_frame',
00090 'RHand/Touch/Left_frame':'RHandTouchLeft_frame',
00091 'RHand/Touch/Back_frame':'RHandTouchBack_frame',
00092 'RHand/Touch/Right_frame':'RHandTouchRight_frame',
00093 'Accelerometer_frame':'ImuTorsoAccelerometer_frame',
00094 'Gyrometer_frame':'ImuTorsoGyrometer_frame',
00095 'MicroFront_frame':'MicroFrontCenter_frame',
00096 'MicroRear_frame':'MicroRearCenter_frame',
00097 'MicroLeft_frame':'MicroSurroundLeft_frame',
00098 'MicroRight_frame':'MicroSurroundRight_frame',
00099 'Torso_link':'torso',
00100 'LAnkleRoll_link':'l_ankle',
00101 'RAnkleRoll_link':'r_ankle',
00102 'HeadPitch_link':'Head',
00103 'HeadYaw_link':'Neck',
00104 'LShoulderPitch_link':'LShoulder',
00105 'RShoulderPitch_link':'RShoulder',
00106 'LShoulderRoll_link':'LBicep',
00107 'RShoulderRoll_link':'RBicep',
00108 'LElbowYaw_link':'LElbow',
00109 'RElbowYaw_link':'RElbow',
00110 'LElbowRoll_link':'LForeArm',
00111 'RElbowRoll_link':'RForeArm',
00112 'LHipYawPitch_link':'LPelvis',
00113 'RHipYawPitch_link':'RPelvis',
00114 'LHipRoll_link':'LHip',
00115 'RHipRoll_link':'RHip',
00116 'LHipPitch_link':'LThigh',
00117 'RHipPitch_link':'RThigh',
00118 'LKneePitch_link':'LTibia',
00119 'RKneePitch_link':'RTibia',
00120 'TrunkYaw_link':'body',
00121 }
00122