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roboy3.yaml
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/
roboy3.yaml
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robot: "brain"
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]
#- [15,14,13,12,11,10,9,8,18,19]
- [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]
- [128,129,130,131,132,133,134,135,136,137]
- [128,129,130,131,132,133,134,135,136,137]
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]
- [-0.000157,0.000157,-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]
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]
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]
knee:
order: [0,1,2,3]
sign: [1,1,1,1]
offset: [0,0,0,0]