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- {
- "listen_port": 5277,
- "object_list": [
- {
- "type": "ur_interface",
- "name": "ur_interface",
- "init_config": {
- "address": "192.168.38.141",
- "report_frequency": 125
- },
- "start_config": {
- "output_objs": {
- "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"
- },
- "input_objs": {
- "tcp_offset_pose": "robot_tcp_offset_pose",
- "control_mode": "robot_control_mode",
- "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"
- }
- }
- }
- ]
- }
|
