naoqi_tools.nao_dictionaries Namespace Reference

Variables
dictionary	Nao_links
dictionary	Nao_offsets
dictionary	Nao_orig
dictionary	Nao_visu
float	pi_2 = math.pi/2.0

Variable Documentation

dictionary naoqi_tools.nao_dictionaries.Nao_links

Definition at line 16 of file nao_dictionaries.py.

dictionary naoqi_tools.nao_dictionaries.Nao_offsets

Initial value:

= {
    #### sensors offsets  ####
    # cameras
    'CameraTopV4OffsetX': 5.871e-2,
    'CameraTopV4OffsetY': 0.0,
    'CameraTopV4OffsetZ': 6.364e-2,
    'CameraTopV4RotX': 0.0,
    'CameraTopV4RotY': 2.09e-2,
    'CameraTopV4RotZ': 0.0,
    }

Definition at line 5 of file nao_dictionaries.py.

dictionary naoqi_tools.nao_dictionaries.Nao_orig

Initial value:

= {
    u'Torso_link': ur.Pose((0, 0, 0.02075), (0, 0, 0)),
    u'HeadPitch_link':  ur.Pose((0, 0, 0.058), (pi_2, 0, 0)),
    u'LShoulderRoll_link':  ur.Pose((0.045, 0, 0), (pi_2, 0, pi_2)),
    u'LElbowRoll_link': ur.Pose((0.025325, 0, 0), (pi_2, 0, pi_2)),
    u'LHipPitch_link': ur.Pose((0, 0, -0.05), (0, 0, 0)),
    u'LKneePitch_link': ur.Pose((0, 0, -0.05), (0, 0, 0)),
    u'RHipPitch_link': ur.Pose((0, 0, -0.05), (0, 0, 0)),
    u'RKneePitch_link': ur.Pose((0, 0, -0.05), (0, 0, 0)),
    u'RShoulderRoll_link': ur.Pose((0.045, 0, 0), (pi_2, 0, pi_2)),
    u'RElbowRoll_link': ur.Pose((0.025325, 0, 0), (pi_2, 0, pi_2)),
    u'LAnkleRoll_link': ur.Pose((0.02, 0, 0.0075), (0, 0, 0)),
    u'RAnkleRoll_link': ur.Pose((0.02, 0, 0.0075), (0, 0, 0)),
    u'LWristYaw_link': ur.Pose((0.029, 0, 0), (pi_2, 0, pi_2)),
    u'RWristYaw_link': ur.Pose((0.029, 0, 0), (pi_2, 0, pi_2)),
    }

Definition at line 101 of file nao_dictionaries.py.

dictionary naoqi_tools.nao_dictionaries.Nao_visu

Initial value:

= {
    u'Torso_link': ur.Cylinder(0.015, 0.2115),
    u'HeadPitch_link': ur.Cylinder(0.04, 0.14),
    u'LShoulderRoll_link': ur.Cylinder(0.015, 0.09),
    u'LElbowRoll_link': ur.Cylinder(0.015, 0.05065),
    u'LHipPitch_link': ur.Cylinder(0.015, 0.1),
    u'LKneePitch_link':   ur.Cylinder(0.015, 0.1),
    u'RHipPitch_link': ur.Cylinder(0.015, 0.1),
    u'RKneePitch_link': ur.Cylinder(0.015, 0.1),
    u'RShoulderRoll_link': ur.Cylinder(0.015, 0.09),
    u'RElbowRoll_link':  ur.Cylinder(0.015, 0.05065),
    u'LAnkleRoll_link': ur.Box((0.16, 0.06, 0.015)),
    u'RAnkleRoll_link': ur.Box((0.16, 0.06, 0.015)),
    u'LWristYaw_link':  ur.Cylinder(0.015, 0.058),
    u'RWristYaw_link':  ur.Cylinder(0.015, 0.058),
    }

Definition at line 84 of file nao_dictionaries.py.

float naoqi_tools.nao_dictionaries.pi_2 = math.pi/2.0

Definition at line 3 of file nao_dictionaries.py.