motors.yaml

#
#
# List of all required and authorized motors (motors ids) for Niryo One V2
#
# (please read carefuly before editing anything)
#
# You should not need to edit this file, unless 
#   - you want to debug on some detached motors
#   - you are developing new features
#   - you really know what you are doing
#
#

can_required_motors: # Axis 1-3 of Niryo One (stepper 1 -> id 1, stepper 2 -> id 2, ...)
    # Edit only for debug purposes (ex : you want to test some motors separately and detached from the robot)
    # --> Commented ids will make associated motor disable (and thus not trigger an error if not connected)
    # Before editing, please be sure that you know what you're doing
    - 1 # Axis 1 enabled if not commented
    - 2 # Axis 2 enabled if not commented
    - 3 # Axis 3 enabled if not commented

can_authorized_motors:
    - 1 # Axis 1 enabled if not commented
    - 2 # Axis 2 enabled if not commented
    - 3 # Axis 3 enabled if not commented
    - 6 # id  for conveyor belt 1
    - 7 # id for conveyor belt  2

dxl_required_motors: # axis 4, 5 and 6 of Niryo One.
    # Edit only for debug purposes (ex : you want to test some motors separately and detached from the robot)
    # --> Commented ids will make associated motor disable (and thus not trigger an error if not connected)
    # Before editing, please be sure that you know what you're doing
    - 2 # -> id of Axis 4
    - 3 # -> id of Axis 5
    - 6 # -> id of Axis 6

dxl_authorized_motors: # here include all Dynamixel tools that can possibly be attached to Niryo One
    - 2 # -> id of Axis 4
    - 3 # -> id of Axis 5
    - 6 # -> id of Axis 6
    - 11 # id of Gripper 1
    - 12 # id of Gripper 2
    - 13 # id of Gripper 3
    - 31 # if of Vacuum Pump 1