with corrected spin direction of m2

Author: missxa

src/roboy3_brain.yaml

@@ -1,3 +1,4 @@
+robot: "brain"
 icebus:
   number_of_motors: [6,10,10,10,10,10]
   update_frequency: [500,500,500,500,100,100]
@@ -17,11 +18,15 @@ icebus:
     - [460800,460800,460800,460800,460800,460800,19200,19200,19200,19200]
   motor_ids_global:
     - [20,21,22,25,24,23]
-    - [7,6,5,4,3,2,1,0,17,16]
-    - [15,14,13,12,11,10,9,8,18,19]
+    - [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]
-    - [26,27,28,29,30,31,38,39,40,41]
     - [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:
@@ -36,13 +41,20 @@ icebus:
     - [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]
-    - [0.00017453292,0.00017453292,0.00017453292,0.00017453292,0.00017453292,0.00017453292,1,1,1,1]
-    - [0.00017453292,0.00017453292,0.00017453292,0.00017453292,0.00017453292,0.000017453292,1,1,1,1]
+    - [-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:
@@ -67,6 +79,8 @@ myobus:
     - [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
@@ -89,8 +103,10 @@ body_part:
 elbow:
   order: [0,1,2,3]
   sign: [1,1,1,-1]
-  offset: [43.2,82.5,215.9,218.8]
+  #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]
+