o
    wi                  
   @   sV  d Z ddlZddlmZmZmZ ddlmZ dZ	dZ
e
 dZeejZed	d
eddeddeddedddZi Zd\ZZdeed d  d  ZdD ]Zejeefeed eee ejdddee< qUd\ZZdeed d  d  Zejeefeed eed ejddded< G dd deZe ZeZdS )z?ARX L5 robot with adhesive-mounted ArUco markers configuration.    N   )ExoskeletonConfig
LinkConfigBLENDER_STL_DIR)arucozrobot_models/arx_l5zrobot_models/so100_modelz/../board_imgs      I   R   [   d   m   larger_baselink1link3link4link6)   r   g      @
   )r   r   r   r   )sizeZmarkerLengthZmarkerSeparation
dictionaryids)   r   g      #@r   c                   @   sn  e Zd ZdZdZe dZe dZe dZ	e
Zdd dd	d
ddd D Zeddde deg deg ddddeddde deg deejd ddgdddeddde d eg d!eejd dejgd"dded#d#d$e d%eg d&eejd dejgd'dded(d(d)e d*eg d+eejd ddgd,ddd-Zd.S )/	ARXConfigzCComplete configuration for ARX L5 robot with adhesive ArUco mounts.ZARX_L5z/arx_l5.xmlz/background.xmlz/assets/c                 C   s    i | ]\}}|t  d | qS )/)BOARD_IMG_DIR).0kv r!   F/data/cameron/para/panda_streaming/hand_eye_calib/../ExoConfigs/arx.py
<dictcomp>#   s     zARXConfig.<dictcomp>zlarger_base.pngzshoulder.pngzupper_base.pngzlower_base.pngzroll.png)r   shoulder
upper_base
lower_baserollZ	base_linkzbase_link.objz/arx_adhesive_base.stl)g=
ףpT@gQBg{Gz@)r   r   r   r   gRQ?)mujoco_namepybullet_namerobot_mesh_pathexo_mesh_patharuco_offset_posaruco_offset_rotaruco_board_nameboard_lengthr   z	link1.objz/arx_adhesive_link1_cut.stl)gQ/@g=
ףp=Fg\(C@   r   r$   g
ףp=
?r   z	link3.objz/arx_adhesive_link3.stl)gR(g33333F@g{GjPr%   r   z	link4.objz/arx_adhesive_link4.stl)g=
ףp=
@gHzGE@g*r&   r   z	link6.objz/arx_adhesive_link6.stl)g=
ףpF@g(\5Wr   r'   r   N)__name__
__module____qualname____doc__nameARX_MODEL_DIRbase_xml_pathSO100_MODEL_DIRbackground_xml_pathcompiler_meshdirlink_boardsaruco_board_objectsitemsaruco_boardsr   r   nparraypilinksr!   r!   r!   r"   r      s:    


$&&$
r   )r4   numpyr?   exoskeletonr   r   r   cv2r   r6   r8   r   getPredefinedDictionaryDICT_6X6_250
aruco_dictarangeboard_ids_dictr;   n_aruco_rown_aruco_colxr5   	GridBoardastypeint32reshaper   
ARX_CONFIGCONFIGr!   r!   r!   r"   <module>   s(    
864