#
# JLS file for the PUMA 260 at McRCIM.
#
# The joint coordinate system is consistent with that described in the paper
# "Kinematics of Common Industrial Robots", Lloyd & Hayward, 
# Robotics, Vol 4, pp. 169-191 (1988).
#
# 	NJ denotes the number of joints
# 	NFC denotes the number of forward couplings
# 	NIC denotes the number of inverse couplings
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
6
# (NJ characters)		      joint type ('R' or 'P')
R R R R R R
# (1 int)	   numFC	      number of forward couplings
3
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings
5 4
6 4
6 5
# (1 int)     	   numIC	      number of inverse couplings
3
# (NIC * 2 ints)   invCouplings       indicies of inverse couplings
5 4
6 4
6 5
# (NJ+NFC floats)  forGearRatios      forward gear ratios
      -46.720000000000000
       69.973300000000000
      -42.986700000000000
       43.511100000000000
       39.384600000000000
       31.769200000000000

       -9.846200000000000
        1.000000000000000
       -5.599988653200000
# (NJ dec float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
	32768	180.0
	32768	 90.0
	32768	-90.0
	32768	 90.0
	32768	  0.0
	32768	 90.0
# (NJ dec)	   encWheelSize       encoder counts/motor shaft rev
	1000
	1000
	1000
	800
	800
	800
# (NJ floats)	   mtorqueToCurrent   motor tor. to output DAC ratio
   -4934.47571379
   -4793.65760748
   -7400.0
#  -4610.7336265 
   -27519.8309621
   -28229.5087288
   -32105.2358261
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
       -2.702077e-04
       -2.781453e-04
       -2.891803e-04
       -4.844991e-05
       -4.723190e-05
       -4.153009e-05
# (NJ ints) 	   currentBias	      zero-torque current values, if current
#				      outputs are biased
	0
	0
       10
	0
	0
	0
# (NJ dec)         encCalvec	      encoder calibration vector
#				      (measured by primecal)
33059
33036
33559
32868
33369
32862
# (NJ dec)         encHome            encoder counts at home or nest position
 55738
 10641
 45441
 32955
 40357
 29208
# (NJ float)  	   potSlope           slope for pot enc estimate
#				      (measured by potcal)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float) 	   potIntercept       intercept for pot enc estimate
#				      (measured by potcal)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       jmin		      minimum joint angle (deg.)
       -4.0
      -67.0
     -236.0
     -218.0
     -122.0
     -215.0
# (NJ float)        jmax	      maximum joint angle (deg.)
      304.0
      247.0
       56.0            
      382.0
      122.0           
      310.0
# (NJ float)       maxVel	      maximum velocity (deg./sec.)
      360.0
      360.0
      360.0
      720.0
      720.0
      720.0
# (NJ float)       maxAcc	      maximum acceleration (deg./sec.^2)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxJerk	      maximum jerk (deg./sec.^3)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxMtorque	      maximum motor torque
        0.303983662501
        0.312913462501
        0.3253278375 
        0.0545061487502
        0.0531358875002
        0.0467213512501
# (NJ float)       maxJtorque	      maximum joint torque
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ floats)	   parkAngles	      the park angles for the robot
	0.0
       90.0
     -180.0
      180.0
       90.0
       90.0
# (NJ floats)	   bestAngles	      a set of well conditioned angles
       90.0
       60.0
     -180.0
     -180.0
       60.0
       90.0
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
20.0
20.0
20.0
30.0
30.0
30.0
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
200.0
200.0
200.0
300.0
300.0
300.0
# (NJ floats)	   nominalJerk	      nominal jerk (deg/sec^3)
1000.0
1000.0
1000.0
1000.0
1000.0
1000.0
# (1 hex int)	   flags	      robot specific flags.
	01
