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 }