🚧 Work in progress: this documentation is still being written and reviewed. Check details against the source code.

CMS configuration values

Generated from src/beambot/config/cms_beamline.yaml in the documented source. Values are specific to CMS. Use the configuration guide for field meanings and precedence; calibrate values separately for another installation.

beamline

Key	Configured value
beamline	"cms"

poses_file

Key	Configured value
poses_file	"src/cms/poses.yaml"

scene_file

Key	Configured value
scene_file	"src/beambot/config/beamline_scene.yaml"

robot

Key	Configured value
robot.ip	"xf11bm-robot1.nsls2.bnl.local"
robot.arm_group	"ur_arm"
robot.ik_frame	"flange"
robot.velocity_scaling	0.2
robot.acceleration_scaling	0.2
robot.moveit_config_package	"cms_moveit_config"
robot.description_package	"cms_robot_description"
robot.arm_joints	["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]

grippers

Key	Configured value
grippers.none.moveit_package	"cms_moveit_config"
grippers.none.gripper_arg	"none"
grippers.none.tool_voltage	0
grippers.none.gripper_group	""
grippers.none.states	{}
grippers.none.tip_frame	"flange"
grippers.none.z_offset	0.0
grippers.none.urdf_file	"ur_standalone.urdf"
grippers.none.payload_mass	1.43
grippers.none.payload_cog.x	-0.038
grippers.none.payload_cog.y	-0.022
grippers.none.payload_cog.z	-0.055
grippers.none.launch_urdf	"ur_standalone.xacro"
grippers.none.moveit_controllers_file	"none/moveit_controllers.yaml"
grippers.none.use_tool_communication	true
grippers.none.tool_comm_params	{}
grippers.hande.moveit_package	"cms_moveit_config"
grippers.hande.gripper_arg	"hande"
grippers.hande.tool_voltage	24
grippers.hande.gripper_group	"hande_gripper"
grippers.hande.states.grasp	"hande_closed"
grippers.hande.states.release	"hande_open"
grippers.hande.tip_frame	"robotiq_hande_end"
grippers.hande.z_offset	-0.02
grippers.hande.urdf_file	"ur_with_zivid_hande.urdf"
grippers.hande.payload_mass	2.52
grippers.hande.payload_cog.x	0.018
grippers.hande.payload_cog.y	-0.013
grippers.hande.payload_cog.z	-0.031
grippers.hande.launch_urdf	"ur_with_zivid_hande.xacro"
grippers.hande.moveit_controllers_file	"hande/moveit_controllers.yaml"
grippers.hande.use_tool_communication	false
grippers.hande.tool_comm_params	{}
grippers.epick.moveit_package	"cms_moveit_config"
grippers.epick.gripper_arg	"epick"
grippers.epick.tool_voltage	24
grippers.epick.gripper_group	"epick_gripper"
grippers.epick.cup_profile	"3mm_dia_external_air"
grippers.epick.z_offset	-0.007
grippers.epick.states.grasp	"vacuum_on"
grippers.epick.states.release	"vacuum_off"
grippers.epick.tip_frame	"epick_tip"
grippers.epick.urdf_file	"ur_with_zivid_epick.urdf"
grippers.epick.payload_mass	2.15
grippers.epick.payload_cog.x	0.018
grippers.epick.payload_cog.y	-0.015
grippers.epick.payload_cog.z	-0.036
grippers.epick.launch_urdf	"ur_with_zivid_epick.xacro"
grippers.epick.moveit_controllers_file	"epick/moveit_controllers.yaml"
grippers.epick.use_tool_communication	true
grippers.epick.tool_comm_params.tool_baud_rate	115200
grippers.epick.tool_comm_params.tool_parity	0
grippers.epick.tool_comm_params.tool_stop_bits	1
grippers.epick.tool_comm_params.tool_rx_idle_chars	1.5
grippers.epick.tool_comm_params.tool_tx_idle_chars	3.5
grippers.2fg7.moveit_package	"cms_moveit_config"
grippers.2fg7.gripper_arg	"2fg7"
grippers.2fg7.tool_voltage	24
grippers.2fg7.gripper_group	"2fg7_gripper"
grippers.2fg7.states.grasp	"2fg7_closed"
grippers.2fg7.states.release	"2fg7_open"
grippers.2fg7.tip_frame	"2fg7_tip"
grippers.2fg7.z_offset	0.0
grippers.2fg7.urdf_file	"ur_with_zivid_2fg7.urdf"
grippers.2fg7.payload_mass	2.21
grippers.2fg7.payload_cog.x	0.018
grippers.2fg7.payload_cog.y	-0.013
grippers.2fg7.payload_cog.z	-0.031
grippers.2fg7.launch_urdf	"ur_with_zivid_2fg7.xacro"
grippers.2fg7.moveit_controllers_file	"2fg7/moveit_controllers.yaml"
grippers.2fg7.use_tool_communication	true
grippers.2fg7.tool_comm_params.tool_baud_rate	1000000
grippers.2fg7.tool_comm_params.tool_parity	2
grippers.2fg7.tool_comm_params.tool_stop_bits	1
grippers.2fg7.tool_comm_params.tool_rx_idle_chars	1.5
grippers.2fg7.tool_comm_params.tool_tx_idle_chars	3.5
grippers.pipettor.moveit_package	"cms_moveit_config"
grippers.pipettor.gripper_arg	"pipettor"
grippers.pipettor.tool_voltage	24
grippers.pipettor.gripper_group	""
grippers.pipettor.states	{}
grippers.pipettor.tip_frame	"pipette_tip_link"
grippers.pipettor.z_offset	0.0
grippers.pipettor.urdf_file	"ur_with_zivid_pipettor.urdf"
grippers.pipettor.payload_mass	1.63
grippers.pipettor.payload_cog.x	0.01
grippers.pipettor.payload_cog.y	-0.01
grippers.pipettor.payload_cog.z	-0.02
grippers.pipettor.launch_urdf	"ur_with_zivid_pipettor.xacro"
grippers.pipettor.moveit_controllers_file	"pipettor/moveit_controllers.yaml"
grippers.pipettor.use_tool_communication	true
grippers.pipettor.tool_comm_params	{}

camera

Key	Configured value
camera.type	"zivid"
camera.frame	"zivid_optical_frame"
camera.marker_dictionary	"aruco4x4_50"

vision_targets

Key	Configured value
vision_targets.tip_rack.mode	"grid"
vision_targets.tip_rack.marker_id	10
vision_targets.tip_rack.scan_pose	"pipettor_scan"
vision_targets.tip_rack.start_gripper	"pipettor"
vision_targets.tip_rack.marker_offset.x	0.0
vision_targets.tip_rack.marker_offset.y	-0.062
vision_targets.tip_rack.grid.rows	8
vision_targets.tip_rack.grid.cols	12
vision_targets.tip_rack.grid.pitch	0.0091
vision_targets.tip_rack.grid.row_direction	"up"
vision_targets.tip_rack.grid.col_direction	"left"
vision_targets.tip_rack.moves	[{"direction": "forward", "distance": 0.05}, "column_offset", "row_offset", {"direction": "forward", "distance": 0.031}, {"direction": "backward", "distance": 0.158}]
vision_targets.vial_rack.mode	"grid"
vision_targets.vial_rack.marker_id	25
vision_targets.vial_rack.scan_pose	"pipettor_scan"
vision_targets.vial_rack.start_gripper	"pipettor"
vision_targets.vial_rack.grid.rows	2
vision_targets.vial_rack.grid.cols	5
vision_targets.vial_rack.grid.col_pitch	0.022
vision_targets.vial_rack.grid.row_pitch	0.044
vision_targets.vial_rack.grid.col_offset	0.003
vision_targets.vial_rack.grid.row_offset	0.082
vision_targets.vial_rack.grid.col_direction	"right"
vision_targets.vial_rack.grid.col_increasing	"right"
vision_targets.vial_rack.grid.row_direction	"up"
vision_targets.vial_rack.grid.row_increasing	"down"
vision_targets.vial_rack.moves	[{"direction": "backward", "distance": 0.02}, "column_offset", "row_offset", {"direction": "forward", "distance": 0.063}, {"direction": "backward", "distance": 0.073}]
vision_targets.sample.mode	"offset"
vision_targets.sample.marker_id	0
vision_targets.sample.scan_pose	"sample_scan_1"
vision_targets.sample.start_gripper	"epick"
vision_targets.sample.marker_offset.x	0.02
vision_targets.sample.marker_offset.y	0.0
vision_targets.sample.marker_offset.z	0.0
vision_targets.sample.z_offset	0.0

tool_exchange

Key	Configured value
tool_exchange.dock_spacing_m	0.1524
tool_exchange.reference_dock	3
tool_exchange.load_sequence	[{"direction": "forward", "distance": 0.2}, {"direction": "up", "distance": 0.15}, {"direction": "backward", "distance": 0.2}]
tool_exchange.dock_sequence	[{"direction": "forward", "distance": 0.2}, {"direction": "down", "distance": 0.15}, {"direction": "backward", "distance": 0.2}]