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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,117 @@ | ||
| robot: "pinky" | ||
| icebus: | ||
| number_of_motors: [6,10,10,10,10,10] | ||
| update_frequency: [500,500,500,500,100,100] | ||
| motor_ids: | ||
| - [0,1,2,3,4,5] | ||
| - [0,1,2,3,4,5,6,7,8,9] | ||
| - [0,1,2,3,4,5,6,7,8,9] | ||
| - [0,1,2,3,4,5,6,7,8,9] | ||
| - [0,1,2,3,4,5,6,7,8,9] | ||
| - [0,1,2,3,4,5,6,7,8,9] | ||
| baudrate: | ||
| - [2000000,2000000,2000000,2000000,2000000,2000000] | ||
| - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000] | ||
| - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000] | ||
| - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000] | ||
| - [460800,460800,460800,460800,460800,460800,19200,19200,19200,19200] | ||
| - [460800,460800,460800,460800,460800,460800,19200,19200,19200,19200] | ||
| motor_ids_global: | ||
| - [20,21,22,25,24,23] | ||
| #- [0,1,2,3,4,5,6,7,17,16] | ||
| - [7,6,5,4,3,2,1,0,17,16] | ||
| #- [8,9,10,11,12,13,14,15,19,18] | ||
| - [15,14,13,12,11,10,9,8,19,18] | ||
| - [46,47,48,49,50,51,52,53,54,55] | ||
| - [32,33,37,35,36,34,42,43,44,45] | ||
| - [30,26,28,27,31,29,38,39,40,41] | ||
| #- [26,27,28,29,30,31,38,39,40,41] | ||
| #- [32,33,37,35,36,34,42,43,44,45] | ||
| #- [26,27,28,29,30,31,32,33,34,35] | ||
| #- [36,37,38,39,40,41,42,43,44,45] | ||
| bus_ids: | ||
| - [128,129,130,131,132,133] | ||
| - [128,129,130,131,132,133,134,135,136,137] | ||
| - [128,129,130,131,132,133,134,135,136,137] | ||
| - [128,129,130,131,132,133,134,135,136,137] | ||
| - [132,129,130,131,128,133,134,135,136,137] | ||
| - [128,129,132,131,130,133,134,135,136,137] | ||
| encoder0_conversion_factor: | ||
| - [0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941] | ||
| - [0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941] | ||
| - [0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941] | ||
| - [0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941,0.00000651941] | ||
| - [0.00007853,0.00007853,0.00007853,0.00007853,0.00007853,0.00007853,1,1,1,1] | ||
| - [0.00007853,0.00007853,0.00007853,0.00007853,0.00007853,0.00007853,1,1,1,1] | ||
| #- [0.000157,0.000157,0.000157,0.000157,0.000157,0.000157,1,1,1,1] | ||
| #- [0.000157,0.000157,0.000157,0.000157,0.000157,0.000157,1,1,1,1] | ||
| encoder1_conversion_factor: | ||
| - [1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1] | ||
| spin_direction: | ||
| - [1,1,1,1,1,1] | ||
| - [1,1,1,1,-1,-1,-1,-1,1,1] | ||
| - [-1,-1,-1,-1,1,1,1,1,1,1] | ||
| - [1,1,1,1,1,1,1,1,1,1,1,1] | ||
| - [-1,1,-1,1,-1,1,1,1,1,1] | ||
| - [-1,1,-1,1,-1,1,1,1,1,1] | ||
| muscle_type: | ||
| - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"] | ||
| - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"] | ||
| - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"] | ||
| - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"] | ||
| - ["m3","m3","m3","m3","m3","m3","openBionics","openBionics","openBionics","openBionics"] | ||
| - ["m3","m3","m3","m3","m3","m3","openBionics","openBionics","openBionics","openBionics"] | ||
| myobus: | ||
| number_of_motors: [0] | ||
| update_frequency: [100] | ||
| motor_ids: | ||
| - [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15] | ||
| motor_ids_global: | ||
| - [16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31] | ||
| bus_ids: | ||
| - [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15] | ||
| muscle_type: | ||
| - ["myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle","myoMuscle"] | ||
| encoder0_conversion_factor: | ||
| - [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1] | ||
| encoder1_conversion_factor: | ||
| - [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1] | ||
| spin_direction: | ||
| - [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1] | ||
| coeffs_force2displacement: #not used yet | ||
| - [0,0,1] | ||
| coeffs_displacement2force: #not used yet | ||
| - [0,0,1] | ||
|
|
||
| body_part: | ||
| name: ["head","shoulder_left","shoulder_right","wirst_left","wrist_right","hand_left","hand_right","spine","leg_left","leg_right"] | ||
| motor_ids_global: | ||
| - [20,21,22,25,24,23] | ||
| - [7,6,5,4,3,2,1,0,17,16] | ||
| - [8,9,10,11,12,13,14,15,18,19] | ||
| - [46,47,48,49,50,51] | ||
| - [26,27,28,29,30,31] | ||
| - [52,53,54,55] | ||
| - [32,33,34,35] | ||
| - [36,37,38,39,40,41] | ||
| - [42,43] | ||
| - [44,45] | ||
|
|
||
| elbow: | ||
| order: [0,1,2,3] | ||
| sign: [1,-1,-1,1] | ||
| #offset: [43.2,82.5,215.9,218.8] | ||
| #offset: [0.7529,1.4549,3.7827,3.7426] | ||
| #offset: [0,0,0,0] | ||
| offset: [4.925400733947754, 0.9640756845474243, 1.5789973735809326, -0.27506840393] #0.24728159606456757] | ||
| #offset: [4.913223743438721, 0.9589288234710693, 1.617477297782898, -0.28196874260902405] | ||
| knee: | ||
| order: [0,1,2,3] | ||
| sign: [1,1,1,1] | ||
| offset: [0,0,0,0] | ||
|
|