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