[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