00001
00002
00003 """
00004 Copyright (c) 2012, General Motors, Co.
00005 All rights reserved.
00006
00007 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00008 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00009 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00010 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00011 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00012 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00013 SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS
00014 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00015 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00016 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00017 POSSIBILITY OF SUCH DAMAGE.
00018 """
00019
00020 menu_frame_id = ['/r2/left_palm', '/r2/right_palm']
00021 control_marker_id = ['/r2/left_control_frame', '/r2/right_control_frame']
00022 setpoint_marker_id = ['/r2/left_setpoint_frame', '/r2/right_setpoint_frame']
00023 control_frame_id = ['/r2/left_middle_base', '/r2/right_middle_base']
00024
00025 finger_frame_id = [ ['/r2/left_thumb_base',
00026 '/r2/left_thumb_medial_prime',
00027 '/r2/left_thumb_medial',
00028 '/r2/left_thumb_distal',
00029 '/r2/left_index_base',
00030 '/r2/left_index_proximal',
00031 '/r2/left_index_medial',
00032 '/r2/left_middle_base',
00033 '/r2/left_middle_proximal',
00034 '/r2/left_middle_medial',
00035 '/r2/left_ring_proximal',
00036 '/r2/left_little_proximal'],
00037 ['/r2/right_thumb_base',
00038 '/r2/right_thumb_medial_prime',
00039 '/r2/right_thumb_medial',
00040 '/r2/right_thumb_distal',
00041 '/r2/right_index_base',
00042 '/r2/right_index_proximal',
00043 '/r2/right_index_medial',
00044 '/r2/right_middle_base',
00045 '/r2/right_middle_proximal',
00046 '/r2/right_middle_medial',
00047 '/r2/right_ring_proximal',
00048 '/r2/right_little_proximal']]
00049
00050
00051 waist_frame_id = '/r2/waist_center'
00052 backpack_frame_id = '/r2/backpack'
00053
00054 neck_frame_id = ['/r2/neck_lower_pitch', '/r2/neck_roll', '/r2/neck_upper_pitch']
00055 head_frame_id = neck_frame_id[1]
00056
00057 gaze_frame_id = '/r2/gaze_control_link'
00058
00059 posture_frame_id = ['/r2/left_shoulder_pitch', '/r2/right_shoulder_pitch']
00060
00061 base_frame_id = "/r2/robot_base"
00062