#
# RobotType: UR 10
# NOTE: The SafetyParameters section is protected by a CRC checksum, please use the supplied tool "update_urcontrol_crc.py" in a terminal.

## SafetyParameters ##

[Hardware]
robot_type = 2  # 1=UR5, 2=UR10

[DH]
a = [0.000, -0.6127, -0.57155, 0.000000, 0.0000, 0.0000]
d = [0.1807,  0.000,  0.0000, 0.17415, 0.11985, 0.11655]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [1, 1, -1, 1, 1, 1]

[Link]
mass = [7.369, 13.051, 3.989, 2.100, 1.980, 0.615]
center_of_mass = [ [0.021, 0.000, 0.027], [0.38, 0.000, 0.158], [0.24, 0.000, 0.068], [0.000, 0.007, 0.018], [0.000, 0.007, 0.018], [0, 0, -0.026] ]
inertia_matrix = [ [0.03408, 0.00002, -0.00425, 0.00002, 0.03529, 0.00008, 0.00425, 0.00008, 0.02156], [0.02814, 0.00005, -0.01561, 0.00005, 0.77068, 0.00002, -0.01561, 0.00002, 0.76943], [0.01014, 0.00008, 0.00916, 0.00008, 0.30928, 0.00000, 0.00916, 0.00000, 0.30646], [0.00296, -0.00001, -0.00000, -0.00001, 0.00222, -0.00024, -0.00000, -0.00024, 0.00258], [0.00296, -0.00001, -0.00000, -0.00001, 0.00222, -0.00024, -0.00000, -0.00024, 0.00258], [0.00040, 0.00000,  -0.00000, 0.00000, 0.00041, 0.00000, -0.00000, 0.00000, 0.00034] ]

[Geometry]
radius_wrist3       = 0.0450
radius_lower_arm    = 0.0425
offset_x3_lower_arm = 0.0484

[Elbow]
offset = [0, 0, 0.12]
radius = 0.15

[Joint]
joint = ['joint_size4_G5_rev1.conf', 'joint_size4_G5_rev1.conf', 'joint_size3_G5_rev1.conf', 'joint_size2_G5_rev1.conf', 'joint_size2_G5_rev1.conf', 'joint_size2_G5_rev1.conf']

## SafetyParameters ##

[Checksum]
RobotConfig = 1922248777

[Joint]
v_joint_default = 1.0471975511965976
a_joint_default = 1.3962634015954636

[Tool]
tcp_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
tcp_payload_mass = 0
v_tool_default = 0.25
a_tool_default = 1.2
eqradius = 0.25

[Link]
gravity = [0, 0, 9.82] # upright mounting

[Hardware]
power_supply = 1500
robot_sub_type = 3 # 1 = CB1 and CB2 robot, 2 = CB3 robot, 3 = CB5