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Add ALOHA variant arm motor configs (#189)
* Add aloha variant motor configs * Set Current_Limit register default to 200 * wx250s does not limit gripper current limit * Update vx gripper dimensions * Update wx gripper dimensions
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‎interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_vx300s.yaml

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joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper]
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sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0]
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joint_state_publisher:
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update_rate: 100
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publish_states: true
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topic_name: joint_states
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groups:
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arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
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grippers:
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gripper:
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horn_radius: 0.0275
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arm_length: 0.035
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left_finger: left_finger
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right_finger: right_finger
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shadows:
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shoulder:
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shadow_list: [shoulder_shadow]
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calibrate: true
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elbow:
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shadow_list: [elbow_shadow]
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calibrate: true
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sisters:
28+
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motors:
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waist:
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ID: 1
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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shoulder:
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ID: 2
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 841
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Max_Position_Limit: 2867
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Secondary_ID: 255
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shoulder_shadow:
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ID: 3
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 841
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Max_Position_Limit: 2867
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Secondary_ID: 2
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elbow:
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ID: 4
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 898
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Max_Position_Limit: 3094
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Secondary_ID: 255
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elbow_shadow:
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ID: 5
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 898
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Max_Position_Limit: 3094
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Secondary_ID: 4
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forearm_roll:
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ID: 6
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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wrist_angle:
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ID: 7
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 830
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Max_Position_Limit: 3504
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Secondary_ID: 255
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wrist_rotate:
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ID: 8
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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gripper:
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ID: 9
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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Current_Limit: 200

‎interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_wx250s.yaml

+118
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1+
joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper]
2+
sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0]
3+
4+
joint_state_publisher:
5+
update_rate: 100
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publish_states: true
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topic_name: joint_states
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9+
groups:
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arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate]
11+
12+
grippers:
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gripper:
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horn_radius: 0.020
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arm_length: 0.020
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left_finger: left_finger
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right_finger: right_finger
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shadows:
20+
shoulder:
21+
shadow_list: [shoulder_shadow]
22+
calibrate: true
23+
elbow:
24+
shadow_list: [elbow_shadow]
25+
calibrate: true
26+
27+
sisters:
28+
29+
motors:
30+
waist:
31+
ID: 1
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Baud_Rate: 3
33+
Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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shoulder:
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ID: 2
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 819
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Max_Position_Limit: 3345
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Secondary_ID: 255
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shoulder_shadow:
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ID: 3
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 819
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Max_Position_Limit: 3345
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Secondary_ID: 2
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elbow:
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ID: 4
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 648
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Max_Position_Limit: 3094
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Secondary_ID: 255
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elbow_shadow:
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ID: 5
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 648
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Max_Position_Limit: 3094
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Secondary_ID: 4
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forearm_roll:
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ID: 6
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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wrist_angle:
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ID: 7
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 1
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Velocity_Limit: 131
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Min_Position_Limit: 910
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Max_Position_Limit: 3447
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Secondary_ID: 255
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wrist_rotate:
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ID: 8
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Baud_Rate: 3
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Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255
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gripper:
111+
ID: 9
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Baud_Rate: 3
113+
Return_Delay_Time: 0
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Drive_Mode: 0
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Velocity_Limit: 131
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Min_Position_Limit: 0
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Max_Position_Limit: 4095
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Secondary_ID: 255

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