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:

  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