59 lines
1.2 KiB
Plaintext
59 lines
1.2 KiB
Plaintext
dexhand {
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dexhands {
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id: "right_hand_ap001"
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oymotion_ap001 {
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can_interface: "can0"
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hand_id: 2
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master_id: 1
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command_timeout_ms: 255
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}
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}
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dexhands {
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id: "hand1"
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rh56dftp {
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ip: "192.168.1.223"
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port: 6000
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poll_interval_ms: 10
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}
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}
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dexhands {
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id: "hand2"
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rh56dftp {
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ip: "192.168.1.224"
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port: 6000
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poll_interval_ms: 10
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}
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}
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dexhands {
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id: "paxini_tip_1"
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px_6ax_gen3 {
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serial_port: "/dev/ttyACM1"
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sensor_model: "S1813_core"
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module_id: 2
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baud_rate: 921600
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distributed_length: 153
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resultant_length: 3
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poll_interval_ms: 5
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response_timeout_ms: 200
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# 触觉数据最大有效期；超过此时间报不可用，不继续返回旧力值。
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max_sample_age_ms: 50
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response_header_bytes: 14
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tactile_rows: 1
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tactile_cols: 51
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tactile_finger: "INDEX"
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tactile_region: "TIP"
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sensor_name: "Paxini Gen3末端压力"
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polling_read_mode: PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE
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auto_calibrate: false
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}
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}
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dexhands {
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id: "mujoco_zero_touch_dexhand"
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zero_sim_touch {}
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}
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}
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