[robot] urdf = "/workspace/ur10e.urdf" joint_names = [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint",] cost_mask_string = "111111" x_limits = [ "None", "None",] y_limits = [ "None", "None",] z_limits = [ "None", "None",] x_limits_workspace = [ "None", "None",] y_limits_workspace = [ "None", "None",] z_limits_workspace = [ "None", "None",] trajectory_topic_name = "/scaled_joint_trajectory_controller/joint_trajectory" hz = 100 [network] log_ip = "127.0.0.1" log_port = 5005 state_ip = "127.0.0.1" state_port = 7000 commands_port = 8000 [robot.joint_velocity_limits] shoulder_pan_joint = 2.0943951023931953 shoulder_lift_joint = 2.0943951023931953 elbow_joint = 3.141592653589793 wrist_1_joint = 3.141592653589793 wrist_2_joint = 3.141592653589793 wrist_3_joint = 3.141592653589793