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43 lines (38 loc) · 916 Bytes
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Copy pathconfig.json
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43 lines (38 loc) · 916 Bytes
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{
"shoulder_flexion": {
"side": "both",
"target_angle_up": 160,
"target_angle_down": 40,
"tolerance_deg": 15,
"hold_time_sec": 1.5,
"smoothing_window": 5,
"min_moving_angle": 8,
"max_elbow_flexion_deg": 20,
"max_torso_tilt_deg": 12
},
"arm_raise_and_carry": {
"mode": "combined",
"side": "both",
"target_angle_up": 160,
"target_angle_down": 40,
"tolerance_deg": 12,
"hold_time_sec": 1.5,
"smoothing_window": 5,
"min_moving_angle": 8,
"max_elbow_flexion_deg": 20,
"max_torso_tilt_deg": 12,
"carry_duration_sec": 20,
"carry_min_ok_fraction": 0.9
},
"shoulder_abduction": {
"side": "both",
"target_angle_up": 160,
"target_angle_down": 20,
"tolerance_deg": 18,
"hold_time_sec": 1.5,
"smoothing_window": 7,
"min_moving_angle": 8,
"max_elbow_flexion_deg": 20,
"max_torso_tilt_deg": 12
}
}