nao_dictionaries.py
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00001 import math
00002 import naoqi_tools.urdf as ur
00003 pi_2 = math.pi/2.0
00004 
00005 Nao_offsets = {
00006     #### sensors offsets  ####
00007     # cameras
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     # SENSORS
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     }


naoqi_tools
Author(s): Mikael Arguedas
autogenerated on Sat Jun 8 2019 20:30:21