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

    port: 8089

    tool_name: "scissor"

    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


    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
    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
    ]

    joint_cmd_topic: "/joint_cmd"
    joint_state_topic: "/joint_sts"
    arm_enable_topic: "/arm_enable"
    tool_cmd_topic: "/tool_cmd"