# IP for DOBOT NOVA5
arm_ip: '192.168.5.1'

# controller
controller: ['MassageControl/config/admittance.yaml',
              'MassageControl/config/hybrid.yaml',
              'MassageControl/config/position.yaml',
              'MassageControl/config/admithybrid.yaml',
              'MassageControl/config/hybridPid.yaml',
              'MassageControl/config/hybridAdmit.yaml',
              'MassageControl/config/positionerSensor.yaml',
              'MassageControl/config/admittanceZ.yaml',]

# massage heads diretory
massage_head_dir: '/home/jsfb/jsfb_ws/global_config/massage_head'

control_rate: 55
sensor_rate: 55
command_rate: 55