woodenhaptics_aluhaptics_2017-03-16.json

{
    "diameter_capstan_a":       0.0138,
    "diameter_capstan_b":       0.0098,
    "diameter_capstan_c":       0.0098,
    "length_body_a":            0.111,
    "length_body_b":            0.140,
    "length_body_c":            0.111,
    "diameter_body_a":          0.116,
    "diameter_body_b":          0.076,
    "diameter_body_c":          0.076,
    "workspace_origin_x":       0.140,
    "workspace_origin_y":       0,
    "workspace_origin_z":       0,
    "workspace_radius":         0.1,
    "torque_constant_motor_a":  0.0259,
    "torque_constant_motor_b":  0.0259,
    "torque_constant_motor_c":  0.0259,
    "current_for_10_v_signal":  3,
    "cpr_encoder_a":            2000,
    "cpr_encoder_b":            2000,
    "cpr_encoder_c":            2000,
    "max_linear_force":         5,
    "max_linear_stiffness":     1000,
    "max_linear_damping":       8,
    "mass_body_b":              0.17,
    "mass_body_c":              0.11,
    "length_cm_body_b":         0.051,
    "length_cm_body_c":         0.091,
    "g_constant":               0,
}