Difference between revisions of "UPMC iCub project/XDE-simulator-dev-basic"
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== Joint mapping == | == 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> | <code> | ||
24 robot.head_roll | 24 robot.head_roll | ||
Revision as of 20:08, 11 December 2013
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:
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
