kinova.cfg

// Control parameters and robot configurations for the Kinova Gen arm
controllers = {
    position_velocity = {
        alpha           = [ 0.900000, 0.900000, 0.950000, 0.900000, 0.900000, 0.950000 ];
        bias_threshold  = [ 0.000407, 0.000407, 0.000407, 0.000407, 0.000407, 0.000407 ];
        bias_step       = [ 0.000400, 0.000400, 0.000400, 0.000400, 0.000400, 0.000400 ];
        gain_threshold  = [ 0.502492, 0.550000, 0.550000, 0.502492, 0.550000, 0.550000 ];
        gain_step       = [ 0.002000, 0.003000, 0.003000, 0.002000, 0.003000, 0.003000 ];
    };
    position = {
        alpha           = [ 0.800000, 0.900000, 0.950000 ];
        bias_threshold  = [ 0.000407, 0.000407, 0.000407 ];
        bias_step       = [ 0.000400, 0.000400, 0.000400 ];
        gain_threshold  = [ 0.502492, 0.550000, 0.550000 ];
        gain_step       = [ 0.002000, 0.003000, 0.003000 ];
    };
    velocity = {
        alpha           = [ 0.900000, 0.900000, 0.950000 ];
        bias_threshold  = [ 0.000407, 0.000407, 0.000407 ];
        bias_step       = [ 0.000400, 0.000400, 0.000400 ];
        gain_threshold  = [ 0.502492, 0.550000, 0.550000 ];
        gain_step       = [ 0.002000, 0.003000, 0.003000 ];
    };
};

robot = {
    cartesian_force_limit = [ 5.0, 5.0, 5.0, 5.0, 5.0, 5.0 ];
    host_name = "192.168.1.10";
    port = 10000;
    port_real_time = 10001;
    username = "admin";
    password = "kinova1_area4251";
};