type: realman
port: 127.0.0.1:8800
mock: False
mode: 1
gripper_range:
  - 10
  - 990
motors:
  joint_1:
    id: 1
    model: realman
    norm_mode: degrees
  joint_2: 
    id: 2
    model: realman
    norm_mode: degrees
  joint_3: 
    id: 3
    model: realman
    norm_mode: degrees
  joint_4: 
    id: 4
    model: realman
    norm_mode: degrees
  joint_5: 
    id: 5
    model: realman
    norm_mode: degrees
  joint_6: 
    id: 6
    model: realman
    norm_mode: degrees
  gripper: 
    id: 7
    model: realman
    norm_mode: degrees
# cameras:
#   left:
#     serial_number_or_name: 153122077516
#     fps: 30
#     width: 640
#     height: 480
#     use_depth: False
#   front:
#     serial_number_or_name: 145422072751
#     fps: 30
#     width: 640
#     height: 480
#     use_depth: False
#   high:
#     serial_number_or_name: 145422072193
#     fps: 30
#     width: 640
#     height: 480
#     use_depth: False
joint:
  - 15
  - 90
  - 10
  - 80
  - 110
  - 0
  - 10