<configurartion>
    <!-- lower computer communication -->
    <IP>10.0.0.250</IP>
    <Port>8881</Port>

    <collision>
        <open>Y</open> <!-- Y or N -->
        <limitT>20.0</limitT> <!-- N*M -->
        <load>0.02</load><!-- kg-->
    </collision>
</configurartion>
