/home/slemaign/softs-local/BioMove3D-git/include/arm_models/pa10Const.h

#ifndef PA10CONST_H
#define PA10CONST_H

/*
 * Here are defined arm constant for pa10 Jido
 */

#define PA10_ARM_A2  0.450
#define PA10_ARM_R4  0.480
#define PA10_ARM_OF1 M_PI
#define PA10_ARM_OF2 (-(M_PI)/2)
#define PA10_ARM_OF3 (-(M_PI)/2)
#define PA10_ARM_OF4 0.0
#define PA10_ARM_OF5 0.0
#define PA10_ARM_OF6 0.0
#define PA10_ARM_EPSILON 0.01
#define PA10_ARM_NB_JNT 6
#define XARM_BASE_HEIGHT         0.317
// #define XARM_BASE_HEIGHT         0.000
 #define PA10_6ARM_LENGTH         0.070
 #define PA10_TOOL_LENGTH         0.21


#define PA10_Q1_INIT 34.808258
#define PA10_Q2_INIT 30.000000
#define PA10_Q3_INIT 120.608154
#define PA10_Q4_INIT  35.103245
#define PA10_Q5_INIT -66.519173
#define PA10_Q6_INIT -22.566366


#define GP_PLATFORMJOINT    "platformJoint"
#define GP_ARMBASEJOINT      "armBaseJoint"
#define GP_ARMJOINT1            "armJoint1"
#define GP_ARMJOINT2            "armJoint2"
#define GP_ARMJOINT3            "armJoint3"
#define GP_ARMJOINT4            "armJoint4"
#define GP_ARMJOINT5            "armJoint5"
#define GP_ARMJOINT6            "armJoint6"
#define GP_ARMJOINT7            "armJoint7"
#define GP_WRISTJOINT          "wristJoint"
#define GP_FINGERJOINT        "fingerJoint"
#define GP_FREEFLYERJOINT  "freeflyerJoint"
#define GP_VIRTUAL_OBJECT   "virtual_object"

#define GP_GRIPPERJOINT      "fingerJointGripper"

#define MLP_GROUP_BASE_RS_NAME "base_rs"
#define MLP_GROUP_BASE_SM_NAME "base_sm"
#define MLP_GROUP_UPBODY_LIN_NAME "upbody_lin"
#define MLP_GROUP_UPBODY_SM_NAME  "upbody_sm"
#define MLP_GROUP_HEAD_LIN_NAME "head_lin"
#define MLP_GROUP_HEAD_SM_NAME "head_sm"
#define MLP_GROUP_HAND_LEFT_LIN_NAME "hand_left_lin"
#define MLP_GROUP_HAND_LEFT_SM_NAME "hand_left_sm"
#define MLP_GROUP_HAND_RIGHT_LIN_NAME "hand_right_lin"
#define MLP_GROUP_HAND_RIGHT_SM_NAME "hand_right_sm"

#endif