MTRF/r3l/r3l/robot/default_configs.py [57:85]:
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    "qpos_indices": list(range(7, 7 + 16)),
    "qvel_indices": list(range(7, 7 + 16)),
    "qpos_range": np.array([
        (-0., 0.),
        (-0.61 * np.pi, 0.027 * np.pi),
        (-np.pi / 2, np.pi / 2),
        (-np.pi / 2, 0)
    ] * 3 + [
        (-100 * np.pi / 180, 0.0),(-np.pi / 2, np.pi / 2),(-np.pi / 2, np.pi / 2),(-np.pi / 2, 0)]),
    "qvel_range": None,
    "calib_offset": np.array([
        -PI, -3 * PI / 2, -PI, -PI,         # 10, 11, 12, 13
        -PI, -3 * PI / 2, -PI, -PI,         # 20, 21, 22, 23
        -PI, -3 * PI / 2, -PI, -PI,         # 30, 31, 32, 33
        220 * PI / 180, PI, -PI, -PI,     # 40, 41, 42, 43
    ]),
    "calib_scale": np.array([
        1, 1, 1, 1,     # 10, 11, 12, 13
        1, 1, 1, 1,     # 20, 21, 22, 23
        1, 1, 1, 1,     # 30, 31, 32, 33
        -1, -1, 1, 1,     # 40, 41, 42, 43
    ]),
    "device_path": "/dev/ttyUSB0",
    "motor_ids": [
        10, 11, 12, 13,
        20, 21, 22, 23,
        30, 31, 32, 33,
        40, 41, 42, 43,
    ],
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MTRF/r3l/r3l/robot/default_configs.py [89:117]:
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    "qpos_indices": list(range(7, 7 + 16)),
    "qvel_indices": list(range(7, 7 + 16)),
    "qpos_range": np.array([
        (-0., 0.),
        (-0.61 * np.pi, 0.027 * np.pi),
        (-np.pi / 2, np.pi / 2),
        (-np.pi / 2, 0)
    ] * 3 + [
        (-100 * np.pi / 180, 0.0),(-np.pi / 2, np.pi / 2),(-np.pi / 2, np.pi / 2),(-np.pi / 2, 0)]),
    "qvel_range": None,
    "calib_offset": np.array([
        -PI, -3 * PI / 2, -PI, -PI,         # 10, 11, 12, 13
        -PI, -3 * PI / 2, -PI, -PI,         # 20, 21, 22, 23
        -PI, -3 * PI / 2, -PI, -PI,         # 30, 31, 32, 33
        220 * PI / 180, PI, -PI, -PI,     # 40, 41, 42, 43
    ]),
    "calib_scale": np.array([
        1, 1, 1, 1,     # 10, 11, 12, 13
        1, 1, 1, 1,     # 20, 21, 22, 23
        1, 1, 1, 1,     # 30, 31, 32, 33
        -1, -1, 1, 1,     # 40, 41, 42, 43
    ]),
    "device_path": "/dev/ttyUSB0",
    "motor_ids": [
        10, 11, 12, 13,
        20, 21, 22, 23,
        30, 31, 32, 33,
        40, 41, 42, 43,
    ],
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