Sophiar2/tests/data/fracture_robot_interface_config.json

{
  "controller_port": 5277,
  "variable_list": [
    {
      "name": "ur_joint_target_q",
      "type": "array6_obj"
    }
  ],
  "object_list": [
    {
      "type": "fracture_robot_interface",
      "name": "frac_robot",
      "init_config": {
        "com_port": "/dev/ttyACM1",
        "screw": {
          "top": {
            "origin": [
              0,
              0,
              0
            ],
            "direction": [
              0,
              1,
              0
            ]
          },
          "side": {
            "origin": [
              0,
              0,
              0
            ],
            "direction": [
              0,
              0,
              -1
            ]
          }
        }
      },
      "start_config": {
        "input_config": {
          "max_velocity": 5.0,
          "controller_gain": 3.0,
          "control_mode": "cartesian",
          "current_tcp": "tcp_in_robot_base",
          "target_tcp": "target_tcp_in_robot_base",
          "target_motor_velocity": "motor_velocity"
        },
        "output_config": {
          "current_control_mode": "robot_control_mode",
          "is_moving": "robot_is_moving"
        }
      }
    }
  ]
}