end_of_arm:
  devices:
    wrist_pitch:
      py_class_name: WristPitch
      py_module_name: wrist_pitch

wrist_pitch:
  flip_encoder_polarity: 0
  gr: 1.0
  id: 1
  max_voltage_limit: 15
  min_voltage_limit: 11
  motion:
    default:
      accel: 8.0
      vel: 3.0
    fast:
      accel: 10.0
      vel: 5.0
    max:
      accel: 14
      vel: 7
    slow:
      accel: 4.0
      vel: 1.0
  pid:
  - 640
  - 0
  - 0
  pwm_limit: 885
  range_t:
  - 0
  - 4096
  req_calibration: 0
  return_delay_time: 0
  stall_max_effort: 20.0
  stall_max_time: 1.0
  stall_min_vel: 0.1
  temperature_limit: 72
  usb_name: /dev/hello-dynamixel-wrist
  use_multiturn: 0
  zero_t: 2048