config.toml

title = "TOML config"

[Robot]
name = "aubo_i5"
server = "192.168.1.23"
port = 30001
sensor_pose = [0.0, 0.0, 0.04, 0.0, 0.0, 0.0]	#XYZ RPY
tool_pose = [0.0, 0.0, 0.18, 0.0, 0.0, 0.0]	#XYZ RPY
tool_inertia = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]	#目前无法辨识的参数,在拖动示教等低速运动的情况下,该参数影响不大

[ForceControl]
control_mode = 1
selection_vector = [0, 0, 1, 0, 0, 0]
end_ft_sensor_threshold = [1.0, 1.0, 1.0, 0.1, 0.1, 0.1]
end_ft_sensor_limit = [200.0, 200.0, 200.0, 20.0, 20.0, 20.0]
sensor_sensitivity = [1.0, 1.0, 1.0, 5.0, 5.0, 5.0]
cart_mass = [1.0, 1.0, 1.0, 0.1, 0.1, 0.1]
cart_damp = [200.0, 200.0, 200.0, 10.0, 10.0, 10.0]
cart_stiffness = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

[MotionControl]
control_type = 1
control_period = 5	#unit:ms
max_tran_speed = 0.25
max_rot_speed = 0.5
calibration_pose1 = [-0.261799, 0.261799, 1.309, 1.0472, 1.39626, 0.0]
calibration_pose2 = [-0.628319, 0.471239, 1.65806, -0.471239, 0.0, 0.0]
calibration_pose3 = [-0.628319, 0.366519, 1.74533, -0.10472, 1.5708, 0.0]