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


naoqi_tools
Author(s): Mikael Arguedas
autogenerated on Wed Aug 16 2017 02:28:16