{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "kuka_joint_angle",
      "type": "array7_obj"
    },
    {
      "name": "kuka_joint_torque",
      "type": "array7_obj"
    },
    {
      "name": "robot_flange_pose",
      "type": "transform_obj"
    },
    {
      "name": "robot_flange_force",
      "type": "scalarxyz_obj"
    },
    {
      "name": "robot_flange_torque",
      "type": "scalarxyz_obj"
    },
    {
      "name": "robot_flange_force_uncertainty",
      "type": "scalarxyz_obj"
    },
    {
      "name": "robot_flange_torque_uncertainty",
      "type": "scalarxyz_obj"
    },
    {
      "name": "robot_is_moving",
      "type": "bool_obj"
    },
    {
      "name": "kuka_control_mode",
      "type": "u64int_obj"
    },
    {
      "name": "target_flange_pose",
      "type": "transform_obj"
    },
    {
      "name": "target_joint_angle",
      "type": "array7_obj"
    },
    {
      "name": "robot_flange_speed_limit",
      "type": "double_obj",
      "value": 10
    },
    {
      "name": "robot_flange_acceleration_limit",
      "type": "double_obj"
    },
    {
      "name": "robot_flange_jerk_limit",
      "type": "double_obj"
    },
    {
      "name": "kuka_joint_speed_limit",
      "type": "array7_obj",
      "value": [
        0.1,
        0.1,
        0.1,
        0.1,
        0.1,
        0.1,
        0.1
      ]
    },
    {
      "name": "kuka_joint_acceleration_limit",
      "type": "array7_obj"
    },
    {
      "name": "kuka_joint_jerk_limit",
      "type": "array7_obj"
    }
  ],
  "object_list": [
    {
      "type": "kuka_interface",
      "name": "kuka",
      "init_config": {
        "address": "10.0.0.10"
      },
      "start_config": {
        "output_config": {
          "report_frequency": 1,
          "joint_info": {
            "angle": "kuka_joint_angle",
            "torque": "kuka_joint_torque"
          },
          "flange_info": {
            "pose": "robot_flange_pose",
            "force": "robot_flange_force",
            "torque": "robot_flange_torque",
            "force_uncertainty": "robot_flange_force_uncertainty",
            "torque_uncertainty": "robot_flange_torque_uncertainty"
          },
          "is_moving": "robot_is_moving",
          "current_control_mode": "kuka_control_mode"
        },
        "input_config": {
          "control_mode": "hard_flange_pose",
          "flange_pose": "target_flange_pose",
          "joint_angle": "target_joint_angle",
          "flange_speed_limit": "robot_flange_speed_limit",
          "flange_acceleration_limit": "robot_flange_acceleration_limit",
          "flange_jerk_limit": "robot_flange_jerk_limit",
          "joint_speed_limit": "kuka_joint_speed_limit",
          "joint_acceleration_limit": "kuka_joint_acceleration_limit",
          "joint_jerk_limit": "kuka_joint_jerk_limit"
        }
      }
    },
    {
      "type": "transform_obj_watcher",
      "name": "flange_pose_watcher",
      "start_config": {
        "variable_name": "robot_flange_pose"
      }
    },
    {
      "type": "bool_obj_watcher",
      "name": "is_moving_watcher",
      "start_config": {
        "variable_name": "robot_is_moving"
      }
    },
    {
      "type": "empty_object",
      "name": "all",
      "dependencies": [
        "kuka",
        "flange_pose_watcher",
        "is_moving_watcher"
      ]
    }
  ]
}