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src/beambot/config/lix_beamline.yaml

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# LiX Beamline Configuration (NSLS-II Liquid Interface X-ray Scattering)
# Selected at runtime via the BEAMBOT_BEAMLINE_CONFIG environment variable.
#   export BEAMBOT_BEAMLINE_CONFIG=$(realpath src/beambot/config/lix_beamline.yaml)

beamline: "lix"
poses_file: "src/lix/poses.yaml"

robot:
  ip: "192.168.1.101"
  arm_group: "ur_arm"
  ik_frame: "robotiq_hande_end"
  velocity_scaling: 0.2
  acceleration_scaling: 0.2
  moveit_config_package: "lix_moveit_config"
  description_package: "lix_robot_description"
  arm_joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint

grippers:
  hande:
    moveit_package: "lix_moveit_config"
    gripper_arg: "hande"
    tool_voltage: 24
    # Required for managed startup, including mock; verify these LIX launch values.
    # payload_mass: 0.925  # kg
    # payload_cog: {x: 0.0, y: 0.0, z: 0.058}  # m
    gripper_group: "hande_gripper"
    states:
      grasp: "hande_closed"
      release: "hande_open"
    tip_frame: "robotiq_hande_end"
    z_offset: -0.02
    urdf_file: "ur_with_hande.xacro"