5.1.4.3. Offset 檔(.yaml)

如果機器人由於裝配公差和其他原因而造成結構扭曲，則調整 offset 偏移量有助於糾正錯誤。偏移檔案包含每個關節的偏移角度（弧度）以校正扭曲，以及 Offset Tuner 偏移調諧器的初始姿態關節角度。

• offset 偏移檔案的預設路徑：op3_manager/config/offset.yaml

• 內容

offset:
  head_pan: 0
  head_tilt: 0
  l_ank_pitch: 0.0174532925199433
  l_ank_roll: 0
  l_el: 0
  l_hip_pitch: 0.01221730476396031
  l_hip_roll: -0.01570796326794897
  l_hip_yaw: 0.004363323129985824
  l_knee: 0.006981317007977318
  l_sho_pitch: 0
  l_sho_roll: 0
  r_ank_pitch: 0.008726646259971646
  r_ank_roll: 0
  r_el: 0
  r_hip_pitch: 0.01658062789394613
  r_hip_roll: 0.0148352986419518
  r_hip_yaw: 0.008726646259971646
  r_knee: 0.008726646259971646
  r_sho_pitch: 0
  r_sho_roll: 0
init_pose_for_offset_tuner:
  head_pan: 0
  head_tilt: 0
  l_ank_pitch: 0
  l_ank_roll: 0
  l_el: 0
  l_hip_pitch: 0
  l_hip_roll: 0
  l_hip_yaw: 0
  l_knee: 0
  l_sho_pitch: 0
  l_sho_roll: 0
  r_ank_pitch: 0
  r_ank_roll: 0
  r_el: 0
  r_hip_pitch: 0
  r_hip_roll: 0
  r_hip_yaw: 0
  r_knee: 0
  r_sho_pitch: 0
  r_sho_roll: 0

• 參考：How to use offset tuner