parameter_server_conf.py

# -*- coding: utf-8 -*-
"""
Created on Mon Feb  9 13:55:16 2015
@author: adelpret
"""
import numpy as np
from rospkg import RosPack

rospack = RosPack()

NJ = 32
model_path = [rospack.get_path('talos_data') + "/../"]
urdfFileName = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
ImuJointName = "imu_joint"

mapJointNameToID = {
    'lhy': 0,
    'lhr': 1,
    'lhp': 2,
    'lk': 3,
    'lap': 4,
    'lar': 5,
    'rhy': 6,
    'rhr': 7,
    'rhp': 8,
    'rk': 9,
    'rap': 10,
    'rar': 11,
    'ty': 12,
    'tp': 13,
    'lsy': 14,
    'lsr': 15,
    'lay': 16,
    'le': 17,
    'lwy': 18,
    'lwp': 19,
    'lwr': 20,
    'lh': 21,
    'rsy': 22,
    'rsr': 23,
    'ray': 24,
    're': 25,
    'rwy': 26,
    'rwp': 27,
    'rwr': 28,
    'rh': 29,
    'hp': 30,
    'hy': 31
}

mapJointLimits = {
    0: [-0.349065850399, 1.57079632679],
    1: [-0.5236, 0.5236],
    2: [-2.095, 0.7],
    3: [0.0, 2.618],
    4: [-1.309, 0.768],
    5: [-0.5236, 0.5236],
    6: [-1.57079632679, 0.349065850399],
    7: [-0.5236, 0.5236],
    8: [-2.095, 0.7],
    9: [0.0, 2.618],
    10: [-1.309, 0.768],
    11: [-0.5236, 0.5236],
    12: [-1.308996939, 1.308996939],
    13: [-0.261799387799, 0.785398163397],
    14: [-1.57079632679, 0.523598775598],
    15: [0.0, 2.87979326579],
    16: [-2.44346095279, 2.44346095279],
    17: [-2.35619449019, 0.0],
    18: [-2.53072741539, 2.53072741539],
    19: [-1.3962634016, 1.3962634016],
    20: [-0.698131700798, 0.698131700798],
    21: [-1.0471975512, 0.0],
    22: [-0.523598775598, 1.57079632679],
    23: [-2.87979326579, 0.0],
    24: [-2.44346095279, 2.44346095279],
    25: [-2.35619449019, 0.0],
    26: [-2.53072741539, 2.53072741539],
    27: [-1.3962634016, 1.3962634016],
    28: [-0.698131700798, 0.698131700798],
    29: [-1.0471975512, 0.0],
    30: [-0.261799387799, 0.785398163397],
    31: [-1.308996939, 1.308996939]
}

vfMax = np.array([100.0, 100.0, 300.0, 80.0, 80.0, 30.0])
vfMin = -vfMax
mapForceIdToForceLimits = {0: [vfMin, vfMax], 1: [vfMin, vfMax], 2: [vfMin, vfMax], 3: [vfMin, vfMax]}

mapNameToForceId = {"rf": 0, "lf": 1, "rh": 2, "lh": 3}

indexOfForceSensors = ()

footFrameNames = {"Right": "leg_right_6_joint", "Left": "leg_left_6_joint"}

rightFootSensorXYZ = (0.0, 0.0, -0.085)
rightFootSoleXYZ = (0.0, 0.0, -0.105)

urdftosot = (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
             29, 30, 31)