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fix(ethercat): offset motor positions for junction

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This commit is contained in:
linbo 2026-08-21 10:32:08 +08:00
parent 5595db7c81
commit 3214a6a3a6
1 changed files with 14 additions and 14 deletions
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28
cmvr-es/config/devices/motor/ethercat_motors.pb.txt
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@ -38,20 +38,20 @@ motor {
sync_monitor_period_ms: 1000 sync_monitor_period_ms: 1000
} }
slaves { motor_id: 1 alias: 0 position: 0 } slaves { motor_id: 1 alias: 0 position: 1 }
slaves { motor_id: 2 alias: 0 position: 1 } slaves { motor_id: 2 alias: 0 position: 2 }
slaves { motor_id: 3 alias: 0 position: 2 } slaves { motor_id: 3 alias: 0 position: 3 }
slaves { motor_id: 4 alias: 0 position: 3 } slaves { motor_id: 4 alias: 0 position: 4 }
slaves { motor_id: 5 alias: 0 position: 4 } slaves { motor_id: 5 alias: 0 position: 5 }
slaves { motor_id: 6 alias: 0 position: 5 } slaves { motor_id: 6 alias: 0 position: 6 }
slaves { motor_id: 7 alias: 0 position: 6 } slaves { motor_id: 7 alias: 0 position: 7 }
slaves { motor_id: 8 alias: 0 position: 7 } slaves { motor_id: 8 alias: 0 position: 8 }
slaves { motor_id: 9 alias: 0 position: 8 } slaves { motor_id: 9 alias: 0 position: 9 }
slaves { motor_id: 10 alias: 0 position: 9 } slaves { motor_id: 10 alias: 0 position: 10 }
slaves { motor_id: 11 alias: 0 position: 10 } slaves { motor_id: 11 alias: 0 position: 11 }
slaves { motor_id: 12 alias: 0 position: 11 } slaves { motor_id: 12 alias: 0 position: 12 }
slaves { motor_id: 13 alias: 0 position: 12 } slaves { motor_id: 13 alias: 0 position: 13 }
slaves { motor_id: 14 alias: 0 position: 13 } slaves { motor_id: 14 alias: 0 position: 14 }
} }
joint_limits { joint_limits {