version = "0.31.1"

# 日志数量
log_count = 20

# 日志输出等级
# 选择一种: Critical Error Warning Info Debug TraceL1 TraceL2 TraceL3
log_level = "TraceL3"

# 伺服控制周期 0.005s
cycle_time = 0.004

[[Extension]]
    # location 相对于 安装目录或者工作目录，优先采用工作目录
    location = "extensions/aubo_script/aubo_script.so"

    # 指定 BundleName
    bundle = "aubo_script"

    # 别名
    alias = "aubo_script"
    enable = true

    # 配置参数
    [Extension.options]
        port = 30002

[[Extension]]
    location = "extensions/aubo_comm/aubo_comm.so"
    bundle = "aubo_comm"

    alias = "aubo_comm"
    enable = true

    [Extension.options]
        rpc_tcp_port = 30004
        rpc_ws_port = 9012
        rpc_http_port = 8484
        rtde_tcp_port = 30010
        rtde_ws_port = 9013

# 配置 kw_ftsensor1
[[Sensor]]
    location = "extensions/kw_ftsensor/kw_ftsensor.so"
    bundle = "kw_ftsensor"

    alias = "kw_ftsensor1"
    enable = true
    
    [Sensor.options]
        manufactory = "KunWei"
        port = "/dev/ttyUSB0"
        baudrate = 460800
        stop_bits = 1.0
        parity = "none"
        enable_notch_filter = false

[[RobotHw]]
    location = "extensions/fake_robot/fake_robot.so"
    bundle = "fake_robot"

    alias = "fake_robot1"

    [RobotHw.options]
        model_type = "aubo_i5"
        model_subtype = ""
        controlbox_type = "cb_standard"
        qinit = [0.0, -0.261799, 1.74533, 0.436332, 1.5708, 0.0]
        beta  = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        theta = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        alpha = [0.0, 0.0004432201385498047, -0.00199127197265625, -0.003660202026367188, 0.001375198364257813, 0.006683349609375]
        a     = [0.001000404357910156, 0.0, 0.0, 0.0009450912475585938, 0.0004518032073974609, -0.0007853507995605469]
        d     = [0.0, 0.0001679658889770508, -0.0001679658889770508, 0.0001679658889770508, 0.001235008239746094, 0.0008845329284667969]

[[RobotHw]]
    location = "extensions/hardware_interface/hardware_interface.so"
    bundle = "robot_driver"
    
    alias = "robot_driver1"

    [RobotHw.options]
        friction_model_version = 3
        port_mac = "01:01:01:01:01:01"
        joints = [ 1, 2, 3, 4, 5, 6 ]
        slave_joints = [ 11, 12, 13, 14, 15, 16 ]
        tool = 9
        base = 8
        master_board = 1
        slave_board = 2
        sync_period = 4000
        can_port_mode = "DUAL_CAN_INV"
        tool_bus_type = 1 # 末端串⼝类型 0-modbus 1-485串⼝ 2-⼒传感器
        baudrate = "115200" # 末端串⼝⽀持的波特率 "4800" "9600" "19200" "38400" "57600" "115200"
        stopbits = "1" # 末端串⼝⽀持的停⽌位 "1" "0.5" "1.5" "2"
        parity = "none" # 末端串⼝⽀持的校验位 "none" "even" "odd"
        
[[ExAxis]]
    location = "extensions/ecat_robot/ecat_robot.so"
    bundle = "ecat_axis"
    
    alias = "ecat_axis1"

    [ExAxis.options]
        master_instance=0
        vendor="hc"
        reduced_ratio=314.0
        rated_current=1
        rated_torque=1
        max_torque=1
        encoder_lines=65536
        has_brake=false

[[RobotAlgorithm]]
    location = "extensions/aral_wrapper/aral_wrapper.so"
    bundle = "aral_wrapper"

    alias = "rob1::alg"

    [RobotAlgorithm.options]
        debug = false
        # aral_log_level = 'INFO'
        enable_axis = true
        axis_name = "aubo_track_dof_01"
        axis_dir = [ 0.0, 1.0, 0.0 ]
        axis_type = 0
        axis_max_q = 2.0
        axis_min_q = -1.0
        axis_max_qd = 0.5
        axis_max_qdd = 2
        axis_start_stop = 1000.0
        axis_max_effort = 1000.0
        
        
[[ModbusMaster]]
    modbus_debug = false

[[RobotModule]]
    alias = "rob1"
    enable = true

    # 配置机器人的型号
    # robot_type = "aubo_i5"
    # robot_subtype = ""

    # 是否开启碰撞检测
    collision_detect_enable = true

    # 是否打印pathOffset日志信息
    path_offset_debug = false

    # 是否开启电流与力传感器混合拖动
    enable_mixed_freedrive = false

    fc_threshold = [ 1.0, 1.0, 1.0, 0.5, 0.5, 0.5 ]
    # 负载容错，用于上电后的负载检查
    payload_tolerance = [ 10.0, 10.0, 5.0, 5.0, 5.0, 5.0 ]
    enable_joint_admitance = false
    force_limit = [50.0, 50.0, 50.0, 10.0, 10.0, 10.0]

    # 自碰撞检测频率, 整数代表每隔多少个点检测一次，负数代表不检查
    self_collision_check_frequency = -1
    enable_dh_comp = true
    joint_temperature_limit = [70.0, 70.0, 70.0, 70.0, 70.0, 70.0]
    control_box_temperature_limit = 70.0

    # 轨迹提前计算缓存的数量
    trajectory_buffer_size = 10

    # 指定算法服务名字
    algorithm = "rob1::alg"

    # 单独指定运动学算法
    # kinematics_alg = "aral_wrapper1"

    ## 硬件抽象层
    hw = "robot_driver1"
    #hw = "fake_robot1"
    
    axis_hw = "ecat_axis1"

[[IoModule]]
    alias = "ioboard1"
    enable = false

    mac = "12:22:33:44:55:66"
    drv = "rtp1"