#
# JLS file for an immaginary Stanford manipulator. This has been created
# so as to allow "stanford" manipulators to be run on the RCCL simulator.
#
# The data was taken from the original stanford robot which was used
# attached to RCCL at Purdue University. Some of the data has been guessed.
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
	6
# (NJ characters)  jtype	      joint type ('R' or 'P')
	R R P R R R
# (1 int)	   numFC	      number of forward couplings
	0
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings
# (none for this robot)

# (1 int)     	   numIC	      number of inverse couplings
	0
# (NIC * 2 ints)   invCouplings       indicies of inverse couplings
# (none for this robot)

# (NJ+NFC floats)  forGearRatios      forward gear ratios and couplings
       -80.0
        50.0
	 0.03564625147
       -57.6
        28.8
       -70.0
# Gear couplings 
# (none for this robot)

# (NJ dec float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
	32768	  0.0
	32768	  0.0
	19280   450.0
	32768	  0.0
	32768	  0.0
	32768	  0.0
# (NJ dec)	   encWheelSize       encoder counts/motor shaft rev
	1000
	1000
	1000
	 500
	1000
	 500
# (NJ floats)	   mtorqueToCurrent   motor tor. to output DAC ratio
	1000.0
	1000.0
	1000.0
	4000.0
	4000.0
	4000.0
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
	0.001
	0.001
	0.001
	0.00025
	0.00025
	0.00025
# (NJ ints) 	   currentBias	      zero-torque current values, if current
#				      outputs are biased
	0
	0
	0
	0
	0
	0
# (NJ dec)         encCalvec	      encoder calibration vector
#				      (measured by primecal)
	32768
	32768
	32768
	32768
	32768
	32768
# (NJ dec)         encHome            encoder counts at home or nest position
#				      (not used on PUMA 560)
	0
	0
	0
	0
	0
	0
# (NJ float)  	   potSlope           slope for pot enc estimate
#				      (measured by potcal)
#
	100.0
	100.0
	100.0
	 50.0
	100.0
	 50.0
# (NJ float) 	   potIntercept       intercept for pot enc estimate
#				      (measured by potcal)
	-18432
	-18432
	-18432
	  7168
	-18432
	  7168
# (NJ float)       jmin		      minimum joint angle (deg.)
	-140.0
	-150.0
	 200.0
	-270.0
	-120.0
	-270.0
# (NJ float)        jmax	      maximum joint angle (deg.)
	 140.0
	 150.0
	 700.0
	 270.0
	 120.0
	 270.0
# (NJ float)       maxVel	      maximum velocity (deg./sec.)
	180.0
	180.0
	500.0
	360.0
	360.0
	360.0
# (NJ float)       maxAcc	      maximum acceleration (deg./sec.^2)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxJerk	      maximum jerk (deg./sec.^3)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxMtorque	      maximum motor torque or force
#				      (Newton-meters of Newtons)
	1.2
	1.2
	1.2
	0.3
	0.3
	0.3
# (NJ float)       maxJtorque	      maximum joint torque
#	   			      (Not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ floats)	   parkAngles	      the park angles for the robot
#				      (corresponds to the "rcclpark" position)
	 -90.0
	 -90.0
         400.0
           0.0
         -90.0
          90.0
# (NJ floats)	   bestAngles	      a set of well conditioned angles
#				      Usually the parkAngles work well here
	 -90.0
	 -90.0
         400.0
           0.0
         -90.0
          90.0
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
	30.0
	30.0
       100.0
	30.0
	30.0
	30.0
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
	150.0
	150.0
       1000.0
	300.0
	300.0
	300.0
# (NJ floats)	   nominalJerk	      nominal jerk (deg/sec^3)
#				      (not presently used)
	1500.0
	1500.0
       10000.0
	3000.0
	3000.0
	3000.0
# (1 hex int)	   flags	      robot specific flags.
	00
