linkarm_python_sdk/arm_config.json at main · LygionOrganization/linkarm_python_sdk · GitHub

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{
  "linkarm": {
    "device_info_keyword": "CH343",
    "default_device_serial_ports": "",
    "serial_baudrate": 500000,
    "joint_type": "scs",
    "joint_id": [
      31,
      32,
      33,
      34
    ],
    "gripper_torque_limit": 200,
    "node_id": 40,
    "servo_middle": [
      511,
      511,
      511,
      511
    ],
    "joint_direction": [
      1,
      1,
      1,
      1
    ],
    "joint_limit": [
      [-1.5708, 1.5708],
      [-1.5708, 1.5708],
      [-0.8, 2],
      [-1.5, 0]
    ],
    "link_ab": 224.0,
    "link_bc": 145.0,
    "link_cd_1": 24.0,
    "link_cd_2": 120.0,
    "link_de": 120.0,
    "link_ef": 25.0,
    "link_bf_1": 24.0,
    "link_bf_2": 120.0
  },
  "joint": {
    "scs": {
      "joint_range_rad": 3.839724777777778,
      "joint_range_steps": 1024,
      "joint_range_angle": 220.0,
      "id_address": 5,
      "torque_limit_address": 16,
      "torque_lock_address": 40
    },
    "hls": {
      "joint_range_rad": 6.28318530718,
      "joint_range_steps": 4096,
      "joint_range_angle": 360.0
    }
  }
}