def PA10R_config_settings(joint_mapping):
cs = conflib.Manipulator_Configuration_Settings(njoint = 5, DOF = 5, joint_mapping = joint_mapping)
cs.limited[4] = False
cs.joint_handling[4] = 'NM'
cs.ql = genmath.deg_to_rad*numpy.array([ -177.00, -91.00, -174.00, -137.00, -180.00])
cs.qh = genmath.deg_to_rad*numpy.array([ 177.00, 91.00, 174.00, 137.00, 180.00])
return cs
def PUMA_config_settings(joint_mapping):
cs = conflib.Manipulator_Configuration_Settings(njoint = 6, DOF = 6, joint_mapping = joint_mapping)
cs.joint_handling[5] = 'NM'
cs.joint_handling[5] = 'NM'
cs.ql = genmath.deg_to_rad*numpy.array([ -160.00,-180.00, -90.00,-110.00,-100.00, -180.00])
cs.qh = genmath.deg_to_rad*numpy.array([ 160.00, 90.00, 180.00, 170.00, 100.00, 180.00])
return cs
def EXO_config_settings(joint_mapping):
cs = conflib.Manipulator_Configuration_Settings(njoint = 15, DOF = 9, joint_mapping = joint_mapping)
cs.limited[3] = False
cs.limited[4] = False
cs.limited[5] = False
cs.limited[7] = False
cs.limited[8] = False
cs.joint_handling[3] = 'NM'
cs.joint_handling[4] = 'NM'
cs.joint_handling[5] = 'NM'
cs.joint_handling[7] = 'NM'
cs.joint_handling[8] = 'NM'
cs.ql = genmath.deg_to_rad*numpy.array([-12.0,-14.0, 0.0,-180.0,-180.0,-180.0,-180.0,-180.0,-180.0,-180.0,-180.0,-180.0,45.0 ,-180.0,-180.0])
cs.qh = genmath.deg_to_rad*numpy.array([ 17.0, 8.0, 0.2, 180.0, 180.0, 180.0, 180.0, 180.0, 180.0, 180.0, 180.0, 180.0,120.0, 180.0, 180.0])
cs.qh[2] = 0.2
'''
Joint Number : 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14
Free Joint Number : 0 1 2 3 4 5 6 7 8
'''
cs.qh[2] = 0.2
cs.prismatic[2] = True
cs.free[3] = False
cs.free[4] = False
cs.free[6] = False
cs.free[7] = False
cs.free[9] = False
cs.free[11] = False
return cs
def PR2ARM_config_settings(joint_mapping):
cs = conflib.Manipulator_Configuration_Settings(njoint = 7, DOF = 7, joint_mapping = joint_mapping)
cs.limited[4] = False
cs.limited[6] = False
cs.joint_handling[4] = 'NM'
cs.joint_handling[6] = 'NM'
cs.joint_label = ['Shoulder Pan Joint', 'Shoulder Lift Joint', 'Upper Arm Roll Joint',
'Shoulder Pan Joint', 'Elbow Flex Joint', 'Forearm Roll Joint',
'Wrist Flex Joint', 'Wrist Roll Joint']
cs.ql = genmath.deg_to_rad*numpy.array([- 130.00, 60.00, -180.00, 0.00, -180.00, 0.00, -180.00])
cs.qh = genmath.deg_to_rad*numpy.array([ 40.00, 170.00, 44.00, 130.00, 180.00, 130.00, 180.00])
return cs