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

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(Joint mapping)
(Joint mapping)
 
Line 7: Line 7:
 
In the case of iCub the joint map is:
 
In the case of iCub the joint map is:
 
<code>
 
<code>
24 robot.head_roll
+
  24 robot.head_roll
 
+
  11 robot.l_shoulder_yaw
11 robot.l_shoulder_yaw
+
  9 robot.l_shoulder_pitch
 
+
  31 robot.r_ankle_roll
9 robot.l_shoulder_pitch
+
  22 robot.r_wrist_pitch
 
+
  13 robot.l_elbow_yaw
31 robot.r_ankle_roll
+
  27 robot.r_hip_roll
 
+
  28 robot.r_hip_yaw
22 robot.r_wrist_pitch
+
  0 robot.l_hip_pitch
 
+
  7 robot.torso_roll
13 robot.l_elbow_yaw
+
  21 robot.r_wrist_roll
 
+
  25 robot.head_yaw
27 robot.r_hip_roll
+
  16 robot.r_shoulder_pitch
 
+
  18 robot.r_shoulder_yaw
28 robot.r_hip_yaw
+
  10 robot.l_shoulder_roll
 
+
  15 robot.l_wrist_pitch
0 robot.l_hip_pitch
+
  20 robot.r_elbow_yaw
 
+
  14 robot.l_wrist_roll
7 robot.torso_roll
+
  8 robot.torso_yaw
 
+
  19 robot.r_elbow_pitch
21 robot.r_wrist_roll
+
  6 robot.torso_pitch
 
+
  12 robot.l_elbow_pitch
25 robot.head_yaw
+
  17 robot.r_shoulder_roll
 
+
  3 robot.l_knee
16 robot.r_shoulder_pitch
+
  29 robot.r_knee
 
+
  1 robot.l_hip_roll
18 robot.r_shoulder_yaw
+
  23 robot.head_pitch
 
+
  30 robot.r_ankle_pitch
10 robot.l_shoulder_roll
+
  4 robot.l_ankle_pitch
 
+
  2 robot.l_hip_yaw
15 robot.l_wrist_pitch
+
  5 robot.l_ankle_roll
 
+
  26 robot.r_hip_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>
 
</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