z1_controller/config/config.xml

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<configurartion>
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<!-- lower computer communication -->
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<IP>192.168.123.110</IP>
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<Port>8881</Port>
<collision>
<open>N</open> <!-- Y or N -->
<limitT>10.0</limitT> <!-- N*M -->
<load>0.0</load><!-- kg-->
</collision>
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<grasp_max_torque>10.0</grasp_max_torque>
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</configurartion>