port: /dev/ttyDXL

joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
sleep_positions: [0, -1.80, 1.55, 0, 0.8, 0]

joint_state_publisher:
  update_rate: 100
  publish_states: true
  topic_name: joint_states

groups:
  arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]

shadows:
  shoulder:
    shadow_list: [shoulder_shadow]
    calibrate: true
  elbow:
    shadow_list: [elbow_shadow]
    calibrate: true

sisters:

motors:
  waist:
    ID: 1
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 0
    Velocity_Limit: 131
    Min_Position_Limit: 0
    Max_Position_Limit: 4095
    Secondary_ID: 255

  shoulder:
    ID: 2
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 0
    Velocity_Limit: 131
    Min_Position_Limit: 819
    Max_Position_Limit: 3345
    Secondary_ID: 255

  shoulder_shadow:
    ID: 3
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 1
    Velocity_Limit: 131
    Min_Position_Limit: 819
    Max_Position_Limit: 3345
    Secondary_ID: 2

  elbow:
    ID: 4
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 0
    Velocity_Limit: 131
    Min_Position_Limit: 648
    Max_Position_Limit: 3094
    Secondary_ID: 255

  elbow_shadow:
    ID: 5
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 1
    Velocity_Limit: 131
    Min_Position_Limit: 648
    Max_Position_Limit: 3094
    Secondary_ID: 4

  forearm_roll:
    ID: 6
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 0
    Velocity_Limit: 131
    Min_Position_Limit: 0
    Max_Position_Limit: 4095
    Secondary_ID: 255

  wrist_angle:
    ID: 7
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 1
    Velocity_Limit: 131
    Min_Position_Limit: 910
    Max_Position_Limit: 3447
    Secondary_ID: 255

  wrist_rotate:
    ID: 8
    Baud_Rate: 3
    Return_Delay_Time: 0
    Drive_Mode: 0
    Velocity_Limit: 131
    Min_Position_Limit: 0
    Max_Position_Limit: 4095
    Secondary_ID: 255
 
