View source for UPMC iCub project/XDE-simulator-dev-basic


== Joint mapping ==

You can use the name of the joints to enable/disable them.
This can be done by retriving the joint map of the robot (which is corresponding to the description of the robot in the URDF file).
   jmap     = xrl.getJointMapping(xr.icub_simple, robot)
In the case of iCub the joint map is:
<code>
   24 robot.head_roll
   11 robot.l_shoulder_yaw
   9  robot.l_shoulder_pitch
   31 robot.r_ankle_roll
   22 robot.r_wrist_pitch
   13 robot.l_elbow_yaw
   27 robot.r_hip_roll
   28 robot.r_hip_yaw
   0  robot.l_hip_pitch
   7  robot.torso_roll
   21 robot.r_wrist_roll
   25 robot.head_yaw
   16 robot.r_shoulder_pitch
   18 robot.r_shoulder_yaw
   10 robot.l_shoulder_roll
   15 robot.l_wrist_pitch
   20 robot.r_elbow_yaw
   14 robot.l_wrist_roll
   8  robot.torso_yaw
   19 robot.r_elbow_pitch
   6  robot.torso_pitch
   12 robot.l_elbow_pitch
   17 robot.r_shoulder_roll
   3  robot.l_knee
   29 robot.r_knee
   1  robot.l_hip_roll
   23 robot.head_pitch
   30 robot.r_ankle_pitch
   4  robot.l_ankle_pitch
   2  robot.l_hip_yaw
   5  robot.l_ankle_roll
   26 robot.r_hip_pitch
</code>