5.1.4.1. Robot 檔(.robot)
要操作的機器人的訊息。定義了控制頻率，通信介面，baud rate，可用設備及其屬性。
Robot file 的預設路徑：op3_manager/config/OP3.robot
內容
[ control info ]
control_cycle = 8 # milliseconds
[ port info ]
# PORT NAME | BAUDRATE | DEFAULT JOINT
/dev/U2D2 | 2000000 | r_sho_pitch
[ device info ]
# TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS
dynamixel | /dev/U2D2 | 1 | XM-430 | 2.0 | r_sho_pitch | present_position
dynamixel | /dev/U2D2 | 2 | XM-430 | 2.0 | l_sho_pitch | present_position
dynamixel | /dev/U2D2 | 3 | XM-430 | 2.0 | r_sho_roll | present_position
dynamixel | /dev/U2D2 | 4 | XM-430 | 2.0 | l_sho_roll | present_position
dynamixel | /dev/U2D2 | 5 | XM-430 | 2.0 | r_el | present_position
dynamixel | /dev/U2D2 | 6 | XM-430 | 2.0 | l_el | present_position
dynamixel | /dev/U2D2 | 7 | XM-430 | 2.0 | r_hip_yaw | present_position
dynamixel | /dev/U2D2 | 8 | XM-430 | 2.0 | l_hip_yaw | present_position
dynamixel | /dev/U2D2 | 9 | XM-430 | 2.0 | r_hip_roll | present_position
dynamixel | /dev/U2D2 | 10 | XM-430 | 2.0 | l_hip_roll | present_position
dynamixel | /dev/U2D2 | 11 | XM-430 | 2.0 | r_hip_pitch | present_position
dynamixel | /dev/U2D2 | 12 | XM-430 | 2.0 | l_hip_pitch | present_position
dynamixel | /dev/U2D2 | 13 | XM-430 | 2.0 | r_knee | present_position
dynamixel | /dev/U2D2 | 14 | XM-430 | 2.0 | l_knee | present_position
dynamixel | /dev/U2D2 | 15 | XM-430 | 2.0 | r_ank_pitch | present_position
dynamixel | /dev/U2D2 | 16 | XM-430 | 2.0 | l_ank_pitch | present_position
dynamixel | /dev/U2D2 | 17 | XM-430 | 2.0 | r_ank_roll | present_position
dynamixel | /dev/U2D2 | 18 | XM-430 | 2.0 | l_ank_roll | present_position
dynamixel | /dev/U2D2 | 19 | XM-430 | 2.0 | head_pan | present_position
dynamixel | /dev/U2D2 | 20 | XM-430 | 2.0 | head_tilt | present_position
sensor | /dev/U2D2 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yawLast updated