00001 from math import radians
00002
00003 servo_param = {
00004 1: {'name': 'head_pan_joint',
00005 'home_encoder': 512,
00006 'max_speed': radians(180),
00007 'max_ang': radians(145.),
00008 'min_ang': radians(-145.)
00009 },
00010 2: {'name': 'head_tilt_joint',
00011 'home_encoder': 512,
00012 'max_speed': radians(180),
00013 'max_ang': radians(360.),
00014 'min_ang': radians(-360.),
00015 'flipped': True
00016 },
00017 3: {'name': 'right_shoulder_pan_joint',
00018 'home_encoder': 512,
00019 'max_speed': radians(180),
00020 'max_ang': radians(360.),
00021 'min_ang': radians(-360.)
00022 },
00023 4: {'name': 'right_shoulder_lift_joint',
00024 'home_encoder': 512,
00025 'max_speed': radians(180),
00026 'max_ang': radians(360.),
00027 'min_ang': radians(-360.),
00028 'flipped': True
00029 },
00030 5: {'name': 'right_arm_roll_joint',
00031 'home_encoder': 512,
00032 'max_speed': radians(180),
00033 'max_ang': radians(360.),
00034 'min_ang': radians(-360.)
00035 },
00036 6: {'name': 'right_wrist_joint',
00037 'home_encoder': 512,
00038 'max_speed': radians(180),
00039 'max_ang': radians(360.),
00040 'min_ang': radians(-360.)
00041 },
00042 7: {'name': 'left_shoulder_pan_joint',
00043 'home_encoder': 512,
00044 'max_speed': radians(180),
00045 'max_ang': radians(360.),
00046 'min_ang': radians(-360.),
00047 'flipped': True
00048 },
00049 8: {'name': 'left_shoulder_lift_joint',
00050 'home_encoder': 512,
00051 'max_speed': radians(180),
00052 'max_ang': radians(360.),
00053 'min_ang': radians(-360.),
00054 'flipped': True
00055 },
00056 9: {'name': 'left_arm_roll_joint',
00057 'home_encoder': 512,
00058 'max_speed': radians(180),
00059 'max_ang': radians(360.),
00060 'min_ang': radians(-360.)
00061 },
00062 10: {'name': 'left_wrist_joint',
00063 'home_encoder': 512,
00064 'max_speed': radians(180),
00065 'max_ang': radians(360.),
00066 'min_ang': radians(-360.)
00067 },
00068 11: {'name': 'torso_joint',
00069 'home_encoder': 512,
00070 'max_speed': radians(180),
00071 'max_ang': radians(360.),
00072 'min_ang': radians(-360.)
00073 },
00074 12: {'name': 'left_elbow_joint',
00075 'home_encoder': 512,
00076 'max_speed': radians(180),
00077 'max_ang': radians(360.),
00078 'min_ang': radians(-360.)
00079 },
00080 13: {'name': 'right_elbow_joint',
00081 'home_encoder': 512,
00082 'max_speed': radians(180),
00083 'max_ang': radians(360.),
00084 'min_ang': radians(-360.)
00085 }
00086 }
00087
