More about motor limits and values

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Using this program test_one_dof.c, we have obtained the following measurements of low-level dynamixel position ranges:

right hand freely hanging next to Nico: 

limb_index:001, limb_name: r_other_fingers, dynamixel_id:037, position:024
limb_index:003, limb_name: r_index_finger, dynamixel_id:036, position:136
limb_index:005, limb_name: r_thumb_lift, dynamixel_id:034, position:045
limb_index:007, limb_name: r_thumb_close, dynamixel_id:035, position:146
limb_index:008, limb_name: r_wrist_left_right, dynamixel_id:033, position:1038
limb_index:010, limb_name: r_wrist_rotate, dynamixel_id:031, position:4033
limb_index:012, limb_name: r_shoulder_fwd_bwd, dynamixel_id:001, position:2077
limb_index:014, limb_name: r_shoulder_lift, dynamixel_id:003, position:2120
limb_index:016, limb_name: r_shoulder_left_right, dynamixel_id:021, position:1974
limb_index:018, limb_name: r_elbow, dynamixel_id:005, position:2023

right hand freely laying on the table next to Nico: 

limb_index:001, limb_name: r_other_fingers, dynamixel_id:037, position:013
limb_index:003, limb_name: r_index_finger, dynamixel_id:036, position:145
limb_index:005, limb_name: r_thumb_lift, dynamixel_id:034, position:045
limb_index:007, limb_name: r_thumb_close, dynamixel_id:035, position:146
limb_index:008, limb_name: r_wrist_left_right, dynamixel_id:033, position:727
limb_index:010, limb_name: r_wrist_rotate, dynamixel_id:031, position:4095
limb_index:012, limb_name: r_shoulder_fwd_bwd, dynamixel_id:001, position:2222
limb_index:014, limb_name: r_shoulder_lift, dynamixel_id:003, position:2147
limb_index:016, limb_name: r_shoulder_left_right, dynamixel_id:021, position:2042
limb_index:018, limb_name: r_elbow, dynamixel_id:005, position:1195

right hand lifted all the way up straight: 

limb_index:001, limb_name: r_other_fingers, dynamixel_id:037, position:011
limb_index:003, limb_name: r_index_finger, dynamixel_id:036, position:145
limb_index:005, limb_name: r_thumb_lift, dynamixel_id:034, position:022
limb_index:007, limb_name: r_thumb_close, dynamixel_id:035, position:146
limb_index:008, limb_name: r_wrist_left_right, dynamixel_id:033, position:1390
limb_index:010, limb_name: r_wrist_rotate, dynamixel_id:031, position:190
limb_index:012, limb_name: r_shoulder_fwd_bwd, dynamixel_id:001, position:4079
limb_index:014, limb_name: r_shoulder_lift, dynamixel_id:003, position:2145
limb_index:016, limb_name: r_shoulder_left_right, dynamixel_id:021, position:1917
limb_index:018, limb_name: r_elbow, dynamixel_id:005, position:2106

head centered looking forward: 

limb_index:020, limb_name: head_rotate, dynamixel_id:019, position:2048
limb_index:021, limb_name: head_lift, dynamixel_id:020, position:2118

left hand freely hanging next to Nico: 

limb_index:000, limb_name: l_other_fingers, dynamixel_id:047, position:015
limb_index:002, limb_name: l_index_finger, dynamixel_id:046, position:107
limb_index:004, limb_name: l_thumb_lift, dynamixel_id:044, position:046
limb_index:006, limb_name: l_thumb_close, dynamixel_id:045, position:000
limb_index:009, limb_name: l_wrist_left_right, dynamixel_id:043, position:794
limb_index:011, limb_name: l_wrist_rotate, dynamixel_id:041, position:4095
limb_index:013, limb_name: l_shoulder_fwd_bwd, dynamixel_id:002, position:2060
limb_index:015, limb_name: l_shoulder_lift, dynamixel_id:004, position:1990
limb_index:017, limb_name: l_shoulder_left_right, dynamixel_id:022, position:2046
limb_index:019, limb_name: l_elbow, dynamixel_id:006, position:2038

left hand lifted all the way up straight: 

limb_index:000, limb_name: l_other_fingers, dynamixel_id:047, position:015
limb_index:002, limb_name: l_index_finger, dynamixel_id:046, position:107
limb_index:004, limb_name: l_thumb_lift, dynamixel_id:044, position:046
limb_index:006, limb_name: l_thumb_close, dynamixel_id:045, position:000
limb_index:009, limb_name: l_wrist_left_right, dynamixel_id:043, position:836
limb_index:011, limb_name: l_wrist_rotate, dynamixel_id:041, position:4095
limb_index:013, limb_name: l_shoulder_fwd_bwd, dynamixel_id:002, position:016
limb_index:015, limb_name: l_shoulder_lift, dynamixel_id:004, position:2064
limb_index:017, limb_name: l_shoulder_left_right, dynamixel_id:022, position:1912
limb_index:019, limb_name: l_elbow, dynamixel_id:006, position:2041

left hand laying on the table next to Nico: 

limb_index:000, limb_name: l_other_fingers, dynamixel_id:047, position:023
limb_index:002, limb_name: l_index_finger, dynamixel_id:046, position:088
limb_index:004, limb_name: l_thumb_lift, dynamixel_id:044, position:013
limb_index:006, limb_name: l_thumb_close, dynamixel_id:045, position:000
limb_index:009, limb_name: l_wrist_left_right, dynamixel_id:043, position:1073
limb_index:011, limb_name: l_wrist_rotate, dynamixel_id:041, position:000
limb_index:013, limb_name: l_shoulder_fwd_bwd, dynamixel_id:002, position:1837
limb_index:015, limb_name: l_shoulder_lift, dynamixel_id:004, position:1835
limb_index:017, limb_name: l_shoulder_left_right, dynamixel_id:022, position:1938
limb_index:019, limb_name: l_elbow, dynamixel_id:006, position:2780

r_shoulder_lift (the outermost shoulder dof, motor is in top part of arm) 

     1500   pointing ca. 40 deg left (when forward)
     2100   hanging, aligned with the body
     2857   pointing right at about 70-80 deg
     2896   total max, pointing right at about 80 deg

r_shoulder_fwd_bwd (the inside shoulder - turning the arm up and down) 

     4088   completely lifted up (from front side)
     3139   leveled horizontally forward
     2048   hanging down
     1000   leveled horizontally backward (does not stay long in the position ?)
     0012   completely lifted up (from back side)

r_shoulder_left_right (completely inside shoulder - turing arm left and right) 

     3050   completely left (body torso limit)
     2063   normal position on the right side of body
     1020   completely on the back
      945   body torso limit on the back

r_elbow 

     2020   straight
     3040   90 deg back
     3160   limit on the back
     1000   90 def fwd
      925   limit on the fwd

r_index_finger 

     0008   completely open, straight
     1640   90 deg towards palm
     4005   completely closed (when thumb is straight)

r_other_fingers 

     0000   completely open, straight
     1400   90 deg towards palm
     4060   completely closed (when thumb is straight)

r_thumb_lift 

     0000   completely open, straight
     3850   90 deg towards palm
     4080   completely extended, limit

r_thumb_close 

     0000   completely open, straight
     2100   ca. 90 deg 
     3180   physical limit when lift completely extended
     4080   total limit in all positions

r_wrist_rotate 

     0000  ccw limit, back of hand is top
     1835  vertical hand shake position
     4090  cw limit, palm is up

r_wrist_left_right 

     4090  limit towards body, inside
     2000  normal, palm straight
     0015  limit outside

head_rotate 

     0060  looking backwards (turned cw, right)
     1030  looking 90 deg right
     2020  looking fwd
     3110  looking 90 deg left
     4060  looking backwards (turned ccw, left)

head_lift 

     2080  straight forward
     2900  tilt back, seeing stars, ca. 10 deg missing till 90 deg turn
     1600  looking down forward, torso limits, tilted ca 45 degrees down
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