pepper_dictionaries.py
Go to the documentation of this file.
1 ############################
2 ######### PEPPER ###########
3 ############################
4 Pepper_offsets = {
5  # Base_footprint
6  'BaseFootprintOffsetX': 0.0,
7  'BaseFootprintOffsetY': 0.0,
8  'BaseFootprintOffsetZ': -0.334,
9  # KneePitch to Wheel : 0.264 + WheelRadius 0.07 = 0.334
10  'BaseFootprintRotX': 0.0,
11  'BaseFootprintRotY': 0.0,
12  'BaseFootprintRotZ': 0.0,
13 }
14 
15 Pepper_links = {
16  'HeadYaw_link': 'Neck',
17  'HeadPitch_link': 'Head',
18  'HipRoll_link': 'Hip',
19  'HipPitch_link': 'Pelvis',
20  'KneePitch_link': 'Tibia',
21  'Torso_link': 'torso',
22  'LShoulderPitch_link': 'LShoulder',
23  'RShoulderPitch_link': 'RShoulder',
24  'LShoulderRoll_link': 'LBicep',
25  'RShoulderRoll_link': 'RBicep',
26  'LElbowYaw_link': 'LElbow',
27  'RElbowYaw_link': 'RElbow',
28  'LElbowRoll_link': 'LForeArm',
29  'RElbowRoll_link': 'RForeArm',
30  'LWristYaw_link': 'l_wrist',
31  'RWristYaw_link': 'r_wrist',
32  'LHand_actuator_frame': 'l_gripper',
33  'RHand_actuator_frame': 'r_gripper',
34 
35  # SENSORS
36  'Accelerometer_sensor': 'ImuTorsoAccelerometer_frame',
37  'AccelerometerBase_sensor': 'ImuBaseAccelerometer_frame',
38  'GyrometerBase_sensor': 'ImuBaseGyrometer_frame',
39  'Gyrometer_sensor': 'ImuTorsoGyrometer_frame',
40  'CameraBottom_sensor': 'CameraBottom_frame',
41  'CameraDepth_sensor': 'CameraDepth_frame',
42  'CameraTop_sensor': 'CameraTop_frame',
43  'ChestBoard/Button_sensor': 'ChestButton_frame',
44  'Head/Touch/Front_sensor': 'HeadTouchFront_frame',
45  'Head/Touch/Middle_sensor': 'HeadTouchMiddle_frame',
46  'Head/Touch/Rear_sensor': 'HeadTouchRear_frame',
47  'LHand/Touch/Back_sensor': 'LHandTouchBack_frame',
48  'RHand/Touch/Back_sensor': 'RHandTouchBack_frame',
49  'LaserSensor/Front_sensor': 'SurroundingFrontLaser_frame',
50  'LaserSensor/Left_sensor': 'SurroundingLeftLaser_frame',
51  'LaserSensor/Right_sensor': 'SurroundingRightLaser_frame',
52  'LaserSensor/Shovel_sensor': 'ShovelLaser_frame',
53  'LaserSensor/VerticalLeft_sensor': 'VerticalLeftLaser_frame',
54  'LaserSensor/VerticalRight_sensor': 'VerticalRightLaser_frame',
55  'Sonar/Back_sensor': 'SonarBack_frame',
56  'Sonar/Front_sensor': 'SonarFront_frame',
57  'SpeakerLeft_sensor': 'LSpeaker_frame',
58  'SpeakerRight_sensor': 'RSpeaker_frame',
59  'Tablet_sensor': 'Tablet_frame',
60  'Bumper/Back_sensor': 'BumperB_frame',
61  'Bumper/FrontLeft_sensor': 'BumperFL_frame',
62  'Bumper/FrontRight_sensor': 'BumperFR_frame',
63 }

naoqi_tools
Author(s): Mikael Arguedas
autogenerated on Thu Jul 16 2020 03:18:37