general_params.yaml

comm:
  bufferSize: 1024
  server_address: !!python/tuple
  - 127.0.0.1
  - 20010
  use_ROS: True
  vrep_address: !!python/tuple
  #- 192.168.0.81
  - 127.0.0.1
  - 19997
  ros_active: false # set this option to false to skip ROS compeletely



joint_limits:
  # joint name: [min max vals (meters or radians)]
  odom_x:    [-5,     5]   # (m)
  odom_y:    [-5,     5]   # (m)
  odom_theta:    [] # (empty sets cyclic joint)
  J1:          [ ]  # (cyclic joint)
  J2:  [0,     0.5]  # (meters)

  # -------------------------
  J3:  [-0,        0.785398]  # (rad) from Gazebo [-1.570,        2.618]
  J4:  [0,  1.785398]  #        (rad)  from Gazebo [0,  3.141]
  J3:  [-1.570,        2.618]  # (rad) from Gazebo [-1.570,        2.618]
  J4:  [0,     3.141]  #        (rad)  from Gazebo [0,  3.141]
  # -------------------------
  J5:  [-2.82, 2.82]  # (rad)
  J6:  [-1.570,  1.570]  # (rad)
  J7:  [-3.14,  3.14]  # (rad)
  migi_joint1:  [-1.57, 1.57]  # (rad)
  migi_joint2:  [-1.57, 1.57]  # (rad)
  migi_joint3:  [-1.57, 1.57]  # (rad)


active_joints:
  odom_x: true
  odom_y: true
  odom_theta: true
  J1:  true
  J2:  true
  J3:  true
  J4:  true
  J5:  true
  J6:  true
  J7:  true
  migi_joint1:  true
  migi_joint2:  true
  migi_joint3:  true