{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "ur_joint_target_q",
      "type": "array6_obj"
    },
    {
      "name": "ur_joint_target_qd",
      "type": "array6_obj"
    },
    {
      "name": "ur_joint_target_qdd",
      "type": "array6_obj"
    },
    {
      "name": "ur_joint_actual_q",
      "type": "array6_obj"
    },
    {
      "name": "ur_joint_actual_qd",
      "type": "array6_obj"
    },
    {
      "name": "robot_tcp_target_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_tcp_target_speed",
      "type": "array6_obj"
    },
    {
      "name": "robot_tcp_actual_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_tcp_actual_speed",
      "type": "array6_obj"
    },
    {
      "name": "robot_is_controllable",
      "type": "bool_obj"
    },
    {
      "name": "robot_is_moving",
      "type": "bool_obj"
    },
    {
      "name": "robot_control_mode",
      "type": "u64int_obj"
    },
    {
      "name": "robot_tcp_offset_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_target_tcp_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_target_tcp_speed",
      "type": "array6_obj"
    },
    {
      "name": "ur_target_joint_q",
      "type": "array6_obj"
    },
    {
      "name": "ur_target_joint_qd",
      "type": "array6_obj"
    },
    {
      "name": "robot_tcp_speed_limit",
      "type": "double_obj",
      "value": 10
    },
    {
      "name": "robot_tcp_acceleration_limit",
      "type": "double_obj"
    },
    {
      "name": "ur_joint_speed_limit",
      "type": "double_obj"
    },
    {
      "name": "ur_joint_acceleration_limit",
      "type": "double_obj"
    }
  ],
  "object_list": [
    {
      "type": "ur_interface",
      "name": "ur",
      "init_config": {
        "address": "10.0.0.15"
      },
      "start_config": {
        "output_config": {
          "report_frequency": 125,
          "joint_info": {
            "target_q": "ur_joint_target_q",
            "target_qd": "ur_joint_target_qd",
            "target_qdd": "ur_joint_target_qdd",
            "actual_q": "ur_joint_actual_q",
            "actual_qd": "ur_joint_actual_qd"
          },
          "tcp_info": {
            "target_pose": "robot_tcp_target_pose",
            "target_speed": "robot_tcp_target_speed",
            "actual_pose": "robot_tcp_actual_pose",
            "actual_speed": "robot_tcp_actual_speed"
          },
          "is_controllable": "robot_is_controllable",
          "is_moving": "robot_is_moving",
          "current_control_mode": "robot_control_mode"
        },
        "input_config": {
          "control_mode": "tcp_speed",
          "tcp_offset_pose": "robot_tcp_offset_pose",
          "target_tcp_pose": "robot_target_tcp_pose",
          "target_tcp_speed": "robot_target_tcp_speed",
          "target_joint_q": "ur_target_joint_q",
          "target_joint_qd": "ur_target_joint_qd",
          "tcp_speed_limit": "robot_tcp_speed_limit",
          "tcp_acceleration_limit": "robot_tcp_acceleration_limit",
          "joint_speed_limit": "ur_joint_speed_limit",
          "joint_acceleration_limit": "ur_joint_acceleration_limit"
        }
      }
    },
    {
      "type": "bool_obj_recorder",
      "name": "moving_recorder",
      "start_config": {
        "variable_name": "robot_is_moving",
        "save_file": "is_moving.txt"
      }
    }
  ]
}