More about motor limits and values
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Using this program Media: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
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