``` # # # Config for all the end-effectors # # command_list: # Gripper open_gripper: 1 close_gripper: 2 # Vacuump pump pull_air_vacuum_pump: 10 push_air_vacuum_pump: 11 # Tools controlled by digital I/Os setup_digital_io: 20 activate_digital_io: 21 deactivate_digital_io: 22 tool_list: - name: "Gripper 1" type: "gripper" id: 11 available_commands: - open_gripper - close_gripper specs: open_position: 600 open_hold_torque: 404 close_position: 350 close_hold_torque: 404 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Gripper 2" type: "gripper" id: 12 available_commands: - open_gripper - close_gripper specs: open_position: 640 open_hold_torque: 128 close_position: 400 close_hold_torque: 128 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Gripper 3" type: "gripper" id: 13 available_commands: - open_gripper - close_gripper specs: open_position: 450 open_hold_torque: 128 close_position: 220 close_hold_torque: 160 close_max_torque: 1023 open_speed: 300 close_speed: 300 - name: "Electromagnet 1" type: "electromagnet" id: 30 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] - name: "Vacuum Pump 1" type: "vacuum_pump" id: 31 available_commands: - pull_air_vacuum_pump - push_air_vacuum_pump specs: [] - name: "Laser 1" type: "laser" id: 32 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] - name: "DC Motor 1" type: "dc_motor" id: 33 available_commands: - activate_digital_io - deactivate_digital_io - setup_digital_io specs: [] ```