Robot Configuration

The robot-level configuration (see Configuration Levels is read using the data I/O interface. Configuration of listed joint actuators is loaded recursively (as described in Actuator Configuration)

Any configuration path must be provided without file extension, and relative to and relative to /config/robots/

The possible configuration fields and their values are here exemplified for the case of current JSON file I/O implementation (optional parameters are presented with default values and marked with '[o]' in their description):

{
  "controller": {               // Robot controller configuration
    "type": "<library_name>",   // Path (without extension, relative to MODULES_DIR/robot_control/) to plugin with robot controller implementation
    "config": "",               // [o] Custom-format configuration string passed to controller (plugin) specific initialization
    "time_step": 0.005          // [o] Control updates time step
  },
  "actuators": [                // List of robot actuators identifiers (strings) or configurations (objects)
    "<actuator_1_id>",          // Actuator string identifier (configuration file name)
    "<actuator_2_id>", ...      
  ],
  "extra_inputs": [             // [o] Additional inputs configuration (as for inputs in sensor configuration)
    {
      "interface": { ... },
      "signal_processing": { ... }
    }, ...
  ],
  "extra_outputs": [            // [o] Additional outputs configuration (as for outputs in motor configuration)
    {
      "interface": { ... }
    }, ...
  ]
  "log": {                      // [o] Set logging of axis setpoint/measurement and extra input/output numeric data over time
    "to_file": false,             // [o] Save data logging to <log_dir>/[<user_name>-]<robot_name>-<time_stamp>.log, to log file 
                                  //     Default value will set terminal logging
    "precision": 3                // [o] Decimal precision for logged numeric values
  }
}