> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-3.-robotis-op3-ren-xing-ji-qi-ren/5.-jiao-cheng/5.5.-ru-he-shi-yong-tuner-ke-hu-duan/5.5.4.-she-ding-dang-an/5.5.4.2.-op3tuningmodule-she-ding-dang.md).

# 5.5.4.2. op3\_tuning\_module 設定檔

* **data/offset.yaml**：保存偏移量數據 
* **data/tune\_pose.yaml**：保存偏移量調整的姿態訊息，和增益調整的姿態信息

```
- init_pose  
 - move_time  
 - target_pose  
   - joint_name : angle(degree)  
   - ...  

- tune_pose_01  
 - move_time : [time, time, ...]  
 - target_pose : [pose_name, pose_name, ...]  
- tune_pose_02  
 - move_time : [time, time, ...]  
 - target_pose : [pose_name, pose_name, ...]  
- tune_pose_03  
 - move_time : [time, time, ...]  
 - target_pose : [pose_name, pose_name, ...]    
- tune_pose_04  
 - move_time : [time, time, ...]   
 - target_pose : [pose_name, pose_name, ...]  

- pose_data  
 - pose_name  
   - joint_name : angle(degree)  
   - ...  
```