add tool cfg

harvest_arm_rm/config/config.yaml

@@ -7,6 +7,8 @@ harvest_arm_rm:
 
     tool_name: "scissor"
 
+    tool_names: ["scissor", "omnipic", "minisci", "no_tool"]
+
     initial_joint: [-82.60,   20.28,  -32.15,   50.28,   17.28,   64.055,   -20.62]
 
     max_joint: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
@@ -20,13 +22,17 @@ harvest_arm_rm:
     max_cartesian_acc: 1.0
     max_cartesian_angular_acc: 2.0
 
+    bound_cartesian: [
+      -0.3, -0.5, -0.1, 0.3, 0.5, 0.6
+    ]
+
 
     arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
 
 #   0~2 position, x, y, z, m
 #   3~6 orientation, quaternion, x, y, z, w
 #   7 mass, kg
-#   8~11 center of mass, x, y, z, m
+#   8~10 center of mass, x, y, z, m
     tools_in_ee.scissor: [
       0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
       0.66, 0.0, 0.0, 0.06
@@ -47,14 +53,19 @@ harvest_arm_rm:
       0.0, 0.0, 0.0, 0.0
     ]
 
-    joint_cmd_topic: "/joint_cmd"
-    joint_state_topic: "/joint_sts"
-    arm_enable_topic: "/arm_enable"
-    tool_cmd_topic: "/tool_cmd"
-
-    
-
+    action_topic: "/action/arm"
+    observation_topic: "/observation/arm"
 
+    interval: 0.02
+    kp_j : 1.0
+
+    arm_ctrl_voltage: 2 # 0: 0V, 2: 12V, 3: 24V
+
+    # https://develop.realman-robotics.com/en/robot/apipython/classes/controllerIOConfig/#set-the-io-mode-rm-set-io-mode
+    arm_ctrl_io_mode: [0, 0, 1, 1] #  0: input, 1: output
+
+    arm_tool_io_voltage: 2 
+    arm_tool_io_mode: [1, 1] #  0: input, 1: output