This repository has been archived by the owner on Feb 4, 2020. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 21
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
e807fbe
commit 8981792
Showing
1 changed file
with
134 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| { | ||
| "controllers": { | ||
| "upper_arm_controller": { | ||
| "sync_read": true, | ||
| "attached_motors": [ | ||
| "arm", | ||
| "head" | ||
| ], | ||
| "port": "auto", | ||
| "syncloop": "BaseDxlController" | ||
|
|
||
| } | ||
| }, | ||
| "motorgroups": { | ||
| "arm": [ | ||
| "r_shoulder_pitch", | ||
| "r_shoulder_roll", | ||
| "r_arm_yaw", | ||
| "r_elbow_pitch", | ||
| "r_forearm_yaw", | ||
| "r_wrist_pitch", | ||
| "r_wrist_roll", | ||
| "r_gripper" | ||
| ], | ||
| "head": [ | ||
| "pan", | ||
| "tilt" | ||
| ] | ||
| }, | ||
| "motors": { | ||
| "r_shoulder_pitch": { | ||
| "offset": 90.0, | ||
| "type": "MX-106", | ||
| "id": 10, | ||
| "angle_limit": [ | ||
| -180.0, | ||
| 90.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_shoulder_roll": { | ||
| "offset": 90.0, | ||
| "type": "MX-64", | ||
| "id": 11, | ||
| "angle_limit": [ | ||
| -100.0, | ||
| 90.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_arm_yaw": { | ||
| "offset": 0.0, | ||
| "type": "MX-64", | ||
| "id": 12, | ||
| "angle_limit": [ | ||
| -150.0, | ||
| 150.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_elbow_pitch": { | ||
| "offset": 0.0, | ||
| "type": "MX-64", | ||
| "id": 13, | ||
| "angle_limit": [ | ||
| 0.0, | ||
| 125.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_forearm_yaw": { | ||
| "offset": 0.0, | ||
| "type": "AX-12", | ||
| "id": 14, | ||
| "angle_limit": [ | ||
| -150.0, | ||
| 150.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_wrist_pitch": { | ||
| "offset": 0.0, | ||
| "type": "AX-12", | ||
| "id": 15, | ||
| "angle_limit": [ | ||
| -70.0, | ||
| 70.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_wrist_roll": { | ||
| "offset": 0.0, | ||
| "type": "AX-12", | ||
| "id": 16, | ||
| "angle_limit": [ | ||
| -70.0, | ||
| 35.0 | ||
| ], | ||
| "orientation": "indirect" | ||
| }, | ||
| "r_gripper": { | ||
| "offset": 0.0, | ||
| "type": "AX-12", | ||
| "id": 19, | ||
| "angle_limit": [ | ||
| -50.0, | ||
| 47.0 | ||
| ], | ||
| "orientation": "direct" | ||
| }, | ||
| "pan": { | ||
| "offset": 90.0, | ||
| "type": "MX-28", | ||
| "id": 8, | ||
| "angle_limit": [ | ||
| 45.0, | ||
| 120.0 | ||
| ], | ||
| "orientation": "direct" | ||
| }, | ||
| "tilt": { | ||
| "offset": 0.0, | ||
| "type": "MX-64", | ||
| "id": 5, | ||
| "angle_limit": [ | ||
| -90.0, | ||
| 20 | ||
| ], | ||
| "orientation": "direct" | ||
| } | ||
| }, | ||
| "sensors": { | ||
| } | ||
| } |