o
    wi                  
   @   sj  d Z ddlZddlZddlmZ ddlmZmZm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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< qad\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dS )z>SO100 robot with adhesive-mounted ArUco markers configuration.    N)aruco   )ExoskeletonConfig
LinkConfigBLENDER_STL_DIRzrobot_models/so100_modelz/../board_imgs      I   R   [   d   m   v      larger_baseshoulder
upper_base
lower_baserollfixed_grippermoveable_gripper)   r   g      @
   )r   r   r   r   r   r   )sizeZmarkerLengthZmarkerSeparation
dictionaryids)   r   g      #@r   c                   @   s   e Zd ZdZdZe dZe dZe dZdd dd	d
ddddd	 D Z
eZeddde deg deddejd gddd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dejdgd ddd%Zd&S )'UMI_SO100_ConfigzBComplete configuration for SO100 robot with adhesive ArUco mounts.Z	UMI_SO100z/so_arm100.xmlz/background.xmlz/assets/c                 C   s    i | ]\}}|t  d | qS )/)BOARD_IMG_DIR).0kv r%   L/data/cameron/para/panda_streaming/hand_eye_calib/../ExoConfigs/umi_so100.py
<dictcomp>#   s     zUMI_SO100_Config.<dictcomp>zlarger_base.pngzshoulder.pngzupper_base.pngzlower_base.pngzroll.pngzfixed_gripper.pngzmoveable_gripper.pngr   r   BasezBase.stlz/adhesive_base.stl)ig     >   r      gRQ?)mujoco_namepybullet_namerobot_mesh_pathexo_mesh_patharuco_offset_posaruco_offset_rotaruco_board_nameboard_lengthr   	Fixed_JawzFixed_Jaw.stlz/fixed_gripper_umiside.stl)g(\UE@gQ>g)\(9@)r   r   r   g
ףp=
?r   Z
Moving_JawzMoving_Jaw.stlz&/movable_gripper_redo_pasthole_cut.stl)   ig\(\*)r   r   r   N)__name__
__module____qualname____doc__nameSO100_MODEL_DIRbase_xml_pathbackground_xml_pathcompiler_meshdiritemsaruco_boardslink_boardsaruco_board_objectsr   r   nparraypilinksr%   r%   r%   r&   r      s.    


$ 
r   )r8   numpyrB   cv2r   exoskeletonr   r   r   r:   r!   getPredefinedDictionaryDICT_6X6_250
aruco_dictarangeboard_ids_dictr@   n_aruco_rown_aruco_colxr9   	GridBoardastypeint32reshaper   UMI_SO100_CONFIGr%   r%   r%   r&   <module>   s&    
L64
