use_case_config.yaml

# SETUP YAML file for Machine Vision Example - December 2019

EVA:
  comms:
    host: '0.0.0.0'
    token: 'abcd1234'
  end_effector:
    payload: 0        # payload [kg]
    length: 0         # length of tool [m]
    offset:           # ee offset in ee-frame  [m]
      - 0
      - 0
      - 0
  hover_height: 0     # elevation of idle z axis wrt to the object [m]
  surface_height: 0   # elevation of the pickup surface wrt to the robot [m, signed]

TCP:
  server: '0.0.0.0'
  port: 0

objects:
  names:              # object names
    - 'C'
    - 'M'
    - 'R'
  heights:            # object thickness [m]
    C: 0
    M: 0
    R: 0
  weights:            # object weight [k]
    C: 0
    M: 0
    R: 0

waypoints:
  joints_cal_zero:     # joints @ (0,0) of calibration board [rad]
    - 0
    - 0
    - 0
    - 0
    - 0
    - 0
  joints_guess:        # joints guess for pickup/hover position [rad]
    - 0
    - 0
    - 0
    - 0
    - 0
    - 0
  joints_home:        # joints for home position [rad]
    - 0
    - 0
    - 0
    - 0
    - 0
    - 0
  joints_drop:        # joints for drop position [rad]
    - 0
    - 0
    - 0
    - 0
    - 0
    - 0