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