from typing import Dict


def define_foot_name_to_index_mapping(robot: str) -> Dict:
    """Define the robot-specific mapping between feet frame names and indexes."""

    if robot != "iCubV2_5":
        raise Exception("Mapping between feet frame names and indexes only defined for iCubV2_5.")

    foot_name_to_index = {"l_sole": 53, "r_sole": 147}

    return foot_name_to_index