UPMC iCub project/XDE-simulator-dev-basic

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Revision as of 21:08, 11 December 2013 by Arwen (talk | contribs) (Joint mapping)
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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