105 lines
1.9 KiB
YAML
105 lines
1.9 KiB
YAML
port: /dev/ttyDXL
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joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
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sleep_positions: [0, -1.80, 1.55, 0, 0.8, 0]
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joint_state_publisher:
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update_rate: 100
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publish_states: true
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topic_name: joint_states
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groups:
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arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
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shadows:
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shoulder:
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shadow_list: [shoulder_shadow]
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calibrate: true
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elbow:
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shadow_list: [elbow_shadow]
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calibrate: true
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sisters:
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motors:
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waist:
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ID: 1
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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shoulder:
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ID: 2
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 819
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Max_Position_Limit: 3345
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Secondary_ID: 255
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shoulder_shadow:
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ID: 3
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 819
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Max_Position_Limit: 3345
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Secondary_ID: 2
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elbow:
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ID: 4
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 648
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Max_Position_Limit: 3094
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Secondary_ID: 255
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elbow_shadow:
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ID: 5
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 648
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Max_Position_Limit: 3094
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Secondary_ID: 4
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forearm_roll:
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ID: 6
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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wrist_angle:
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ID: 7
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 910
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Max_Position_Limit: 3447
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Secondary_ID: 255
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wrist_rotate:
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ID: 8
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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