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Configuration

Actuator Settings​

Edit /opt/autogence/actuator_config.yaml:

actuators:
  1:
    name: "shoulder_pitch"
    type: "AG-X20"
    gear_ratio: 100
    position_offset: 0.0
    invert_direction: false

  2:
    name: "shoulder_roll"
    type: "AG-X20"
    gear_ratio: 100
    position_offset: 0.0
    invert_direction: true

  3:
    name: "elbow"
    type: "AG-X20"
    gear_ratio: 100
    position_offset: 0.0
    invert_direction: false

Network Settings​

ethercat:
  cycle_time: 1000  # microseconds
  sync_mode: true
  distributed_clocks: true
  interface: "eth0"  # Network interface for EtherCAT

Control Parameters​

control:
  default_velocity: 45.0  # degrees/second
  default_acceleration: 120.0  # degrees/second^2
  position_tolerance: 0.5  # degrees
  watchdog_timeout: 1.0  # seconds

Safety Limits​

safety:
  global_velocity_limit: 180.0  # degrees/second
  global_torque_limit: 20.0  # Nm
  thermal_shutdown_temp: 75.0  # degrees Celsius
  enable_collision_detection: true

Configuration File Location​

The configuration file can be placed in multiple locations (checked in order):

  1. /opt/autogence/actuator_config.yaml (system-wide)
  2. ~/.config/autogence/actuator_config.yaml (user-specific)
  3. ./actuator_config.yaml (current directory)
  4. Custom path via environment variable: AUTOGENCE_CONFIG

Loading Custom Configuration​

from autogence import ActuatorController

# Load specific config file
controller = ActuatorController(config_file="/path/to/custom_config.yaml")

# Or use environment variable
import os
os.environ['AUTOGENCE_CONFIG'] = '/path/to/custom_config.yaml'
controller = ActuatorController()

Per-Actuator Overrides​

You can override configuration for individual actuators:

# Override position offset for calibration
controller.set_config(actuator_id=1, position_offset=5.0)

# Override velocity limit
controller.set_config(actuator_id=2, max_velocity=90.0)

# Save current configuration
controller.save_config("/path/to/save_config.yaml")