dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
You can not select more than 25 topics Topics must start with a chinese character,a letter or number, can include dashes ('-') and can be up to 35 characters long.
Tree: 88f3f37b8f
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from '88f3f37b8f'
${ noResults }
dora/examples/so100-remote/follower.right.json

51 lines
1.5 kB
Raw Blame History 

  1. {

  2.   "shoulder_pan": {

  3.     "id": 1,

  4.     "model": "sts3215",

  5.     "torque": true,

  6.     "pwm_to_logical": { "90": 0, "180": 90, "0": -90, "270": 180, "360": -90 },

  7.     "logical_to_pwm": { "0": 90, "90": 180, "-180": -90, "-90": 0, "180": 270 }

  8.   },

  9.   "shoulder_lift": {

  10.     "id": 2,

  11.     "model": "sts3215",

  12.     "torque": true,

  13.     "pwm_to_logical": { "270": -90, "180": 0, "0": 180, "90": 90, "360": -180 },

  14.     "logical_to_pwm": { "-90": 270, "0": 180, "-180": 360, "90": 90, "180": 0 }

  15.   },

  16.   "elbow_flex": {

  17.     "id": 3,

  18.     "model": "sts3215",

  19.     "torque": true,

  20.     "pwm_to_logical": { "90": 90, "180": 0, "0": 180, "270": -90, "360": -180 },

  21.     "logical_to_pwm": { "90": 90, "0": 180, "-180": 360, "-90": 270, "180": 0 }

  22.   },

  23.   "wrist_flex": {

  24.     "id": 4,

  25.     "model": "sts3215",

  26.     "torque": true,

  27.     "pwm_to_logical": { "180": 0, "270": 90, "0": -180, "90": -90, "360": 180 },

  28.     "logical_to_pwm": { "0": 180, "90": 270, "-180": 0, "-90": 90, "180": 360 }

  29.   },

  30.   "wrist_roll": {

  31.     "id": 5,

  32.     "model": "sts3215",

  33.     "torque": true,

  34.     "pwm_to_logical": { "270": -90, "0": 0, "90": -90, "180": -180, "360": 0 },

  35.     "logical_to_pwm": {

  36.       "-90": 270,

  37.       "0": 360,

  38.       "-180": 180,

  39.       "90": 450,

  40.       "180": 540

  41.     }

  42.   },

  43.   "gripper": {

  44.     "id": 6,

  45.     "model": "sts3215",

  46.     "torque": true,

  47.     "pwm_to_logical": { "180": 0, "270": -90, "0": 180, "90": 90, "360": -180 },

  48.     "logical_to_pwm": { "0": 180, "-90": 270, "-180": 360, "90": 90, "180": 0 }

  49.   }

  50. }