Difference between revisions of "UPMC iCub project/XDE-simulator-dev-basic"

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(Created page with " == Joint mapping == <code> robot.head_roll 24 robot.l_shoulder_yaw 11 robot.l_shoulder_pitch 9 robot.r_ankle_roll 31 robot.r_wrist_pitch 22 robot.l_elbow_yaw 13 robot.r_hip_...")
 
(Joint mapping)
 
(2 intermediate revisions by the same user not shown)
Line 2: Line 2:
 
== 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>
robot.head_roll 24
+
  24 robot.head_roll
robot.l_shoulder_yaw 11
+
  11 robot.l_shoulder_yaw
robot.l_shoulder_pitch 9
+
  9  robot.l_shoulder_pitch
robot.r_ankle_roll 31
+
  31 robot.r_ankle_roll
robot.r_wrist_pitch 22
+
  22 robot.r_wrist_pitch
robot.l_elbow_yaw 13
+
  13 robot.l_elbow_yaw
robot.r_hip_roll 27
+
  27 robot.r_hip_roll
robot.r_hip_yaw 28
+
  28 robot.r_hip_yaw
robot.l_hip_pitch 0
+
  0  robot.l_hip_pitch
robot.torso_roll 7
+
  7  robot.torso_roll
robot.r_wrist_roll 21
+
  21 robot.r_wrist_roll
robot.head_yaw 25
+
  25 robot.head_yaw
robot.r_shoulder_pitch 16
+
  16 robot.r_shoulder_pitch
robot.r_shoulder_yaw 18
+
  18 robot.r_shoulder_yaw
robot.l_shoulder_roll 10
+
  10 robot.l_shoulder_roll
robot.l_wrist_pitch 15
+
  15 robot.l_wrist_pitch
robot.r_elbow_yaw 20
+
  20 robot.r_elbow_yaw
robot.l_wrist_roll 14
+
  14 robot.l_wrist_roll
robot.torso_yaw 8
+
  8  robot.torso_yaw
robot.r_elbow_pitch 19
+
  19 robot.r_elbow_pitch
robot.torso_pitch 6
+
  6  robot.torso_pitch
robot.l_elbow_pitch 12
+
  12 robot.l_elbow_pitch
robot.r_shoulder_roll 17
+
  17 robot.r_shoulder_roll
robot.l_knee 3
+
  3  robot.l_knee
robot.r_knee 29
+
  29 robot.r_knee
robot.l_hip_roll 1
+
  1  robot.l_hip_roll
robot.head_pitch 23
+
  23 robot.head_pitch
robot.r_ankle_pitch 30
+
  30 robot.r_ankle_pitch
robot.l_ankle_pitch 4
+
  4  robot.l_ankle_pitch
robot.l_hip_yaw 2
+
  2  robot.l_hip_yaw
robot.l_ankle_roll 5
+
  5  robot.l_ankle_roll
robot.r_hip_pitch 26
+
  26 robot.r_hip_pitch
 
</code>
 
</code>

Latest revision as of 21:11, 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