add arm joint names to friendly_joint_names

cst0 · Sep 6, 2022 · addb6ec · addb6ec
1 parent a522b19
commit addb6ec
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/spot_driver/src/spot_driver/ros_helpers.py b/spot_driver/src/spot_driver/ros_helpers.py
@@ -39,6 +39,14 @@
 friendly_joint_names["hr.hx"] = "rear_right_hip_x"
 friendly_joint_names["hr.hy"] = "rear_right_hip_y"
 friendly_joint_names["hr.kn"] = "rear_right_knee"
+friendly_joint_names["arm0.sh0"] = "arm0.sh0"
+friendly_joint_names["arm0.sh1"] = "arm0.sh1"
+friendly_joint_names["arm0.hr0"] = "arm0.hr0"
+friendly_joint_names["arm0.el0"] = "arm0.el0"
+friendly_joint_names["arm0.el1"] = "arm0.el1"
+friendly_joint_names["arm0.wr0"] = "arm0.wr0"
+friendly_joint_names["arm0.wr1"] = "arm0.wr1"
+friendly_joint_names["arm0.f1x"] = "arm0.f1x"
 
 class DefaultCameraInfo(CameraInfo):
     """Blank class extending CameraInfo ROS topic that defaults most parameters"""