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README.md

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arcor2_dobot

Environment variables

  • ARCOR2_DOBOT_URL=http://0.0.0.0:5018 - by default, the service listens on port 5018.
  • ARCOR2_DOBOT_MODEL=magician - can be set to magician or m1.
  • ARCOR2_DOBOT_BIAS_X (as well as _Y and _Z) - sets EEF parameters (offset), default value is 0.
  • ARCOR2_DOBOT_MOCK=1 - the service will start in a mock (simulator) mode.
    • Please note that the mock mode is fully functional only for magician. The m1 does not have IK/FK implemented yet. ARCOR2_DOBOT_DEBUG=1 - turns on debug logging.