hr_actuators: configuration-node parameters

Source defaults below are not proof of installed runtime values. Secret-like parameter defaults are omitted. Runtime-only flags and edit-method expressions are preserved where declared.

scripts/waist_node.py

Source: head-ros-nodes/ros/hr_actuators/scripts/waist_node.py

module

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
'neck_scale'	'Apply neck rotation to waist yaw'	0.2	0.0	1.0	``	False	257

src/hr_actuators/Actuators.py

Source: head-ros-nodes/ros/hr_actuators/src/hr_actuators/Actuators.py

Actuators.init

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
f'{motor_entry['name']}_offset'	f'{motor_entry['name']} offset in radians'	0.0	-2.0	2.0	``	False	83

src/hr_actuators/config_nodes.py

Source: head-ros-nodes/ros/hr_actuators/src/hr_actuators/config_nodes.py

ParallaxConfig.init

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
'eye_distance'	'Distance between the eyes in cm'	6.2	3.0	13.0	``	False	25
'parallax_scale'	'Scale'	1.0	0.0	5.0	``	False	26
### NeckJointMapperConfig.init

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
'pitch_scale'	'Additional pitch scale after the calculation'	1.0	0.1	2.0	``	False	34
'roll_scale'	'Additional roll scale after the calculation'	1.0	0.1	2.0	``	False	35
'pitch_offset'	'Additional pitch offset after the mapping and scale'	0.0	-0.5	0.5	``	False	36
'roll_offset'	'Additional roll offset after the mapping and scale'	0.0	-0.5	0.5	``	False	37
### EyeMapperConfig.init

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
'eye_scale_positive'	'Scale for positive motor angle'	1.0	0.5	2.0	``	False	45
'eye_scale_negative'	'scale for negative motor angle'	1.0	0.5	2.0	``	False	46
'eye_offset'	'Offset (radians)'	0.0	-0.1	1.0	``	False	47
### ActuatorsConfig.init

Name	Description	Constructor default	Min	Max	Options expression	Runtime-only	Source line
'animation_topic'	'PAU animation state topic consumed by the actuator mapper'	'/hr/animation/current_state'	None	None	``	False	55
'actuators_topic'	'Manual target posture topic consumed by the actuator mapper'	'/hr/actuators/pose'	None	None	``	False	60
'groups'	'Actuator group expansion map loaded from robot configuration'	{}	None	None	``	True	65
'combined'	'Send motor commands to single topic'	True	None	None	``	False	71
'separate'	'Send motor commands to separate topics'	False	None	None	``	False	72
'sync_topic'	'Sync motor commands with animation on single topic (only works if combined enabled)'	True	None	None	``	False	73
'start_in_animation'	'Automatically start motors in animation state'	True	None	None	``	False	78