{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "flange_in_base",
      "type": "transform_obj"
    },
    {
      "name": "robot_is_moving",
      "type": "bool_obj"
    },
    {
      "name": "kuka_control_mode",
      "type": "u64int_obj"
    },
    {
      "name": "target_flange_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_flange_speed_limit",
      "type": "double_obj",
      "value": 10
    },
    {
      "name": "kuka_joint_speed_limit",
      "type": "array7_obj",
      "value": [
        0.1,
        0.1,
        0.1,
        0.1,
        0.1,
        0.1,
        0.1
      ]
    },
    {
      "name": "ref_in_tracker",
      "type": "transform_obj"
    }
  ],
  "object_list": [
    {
      "type": "kuka_interface",
      "name": "kuka",
      "init_config": {
        "address": "10.0.0.10"
      },
      "start_config": {
        "output_config": {
          "report_frequency": 50,
          "flange_info": {
            "pose": "flange_in_base"
          },
          "is_moving": "robot_is_moving",
          "current_control_mode": "kuka_control_mode"
        },
        "input_config": {
          "control_mode": "hard_flange_pose",
          "flange_pose": "target_flange_pose",
          "flange_speed_limit": "robot_flange_speed_limit",
          "joint_speed_limit": "kuka_joint_speed_limit"
        }
      }
    },
    {
      "type": "ndi_interface",
      "name": "ndi",
      "init_config": {
        "address_type": "ethernet",
        "ip": "10.0.0.5",
        "tcp_port": 8765,
        "com_port": "COM3",
        "tool_list": [
          {
            "rom_path": "/home/tpx/data/roms/Probe_Small_4Ball.rom",
            "outputs": {
              "transform": "ref_in_tracker"
            }
          }
        ]
      },
      "start_config": {
        "allow_unreliable": true,
        "prefer_stream_tracking": false
      }
    },
    {
      "type": "empty_object",
      "name": "all",
      "dependencies": [
        "kuka",
        "ndi"
      ]
    }
  ]
}