parameter_server_conf.py

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# -*- coding: utf-8 -*-
"""
Created on Mon Feb  9 13:55:16 2015
@author: adelpret
"""
 
from os.path import join
 
from example_robot_data.path import EXAMPLE_ROBOT_DATA_MODEL_DIR
 
NJ = 32
model_path = [EXAMPLE_ROBOT_DATA_MODEL_DIR]
urdfFileName = join(
    EXAMPLE_ROBOT_DATA_MODEL_DIR, "talos_data/robots/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 = [100.0, 100.0, 300.0, 80.0, 80.0, 30.0]
vfMin = [-100.0, -100.0, -300.0, -80.0, -80.0, -30.0]
 
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,
)