harvest_arm_rm:
  ros__parameters:
    robot_ip: "192.168.1.19"
    host_ip: "192.168.1.101"

    port: 8089

    tool_name: "scissor"

    tool_names: ["scissor", "omnipic", "minisci", "vacuum", "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]
    min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]

    max_joint_speed: 180.0      # deg/s
    max_joint_acc: 600.0

    max_cartesian_speed: 1.0          # m/s
    max_cartesian_angular_speed: 1.5 # rad/s
    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
#   8~10 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
    ]

    tools_in_ee.omnipic: [
      0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
      0.43, 0.0, 0.0, 0.06
    ]

    tools_in_ee.minisci: [
      0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
      0.46, 0.0, 0.0, 0.06
    ]

    tools_in_ee.no_tool: [
      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
      0.0, 0.0, 0.0, 0.0
    ]

    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