Configuration

One file, config/robot.yaml, read by every process on every machine. Pass another with --config on any script, or set FRANKATWIN_CONFIG=/path/to.yaml; relative paths.build_dir resolves against the repo root. The daemon reads it once at start — restart it after edits.

key	default	meaning
network.nuc_host	172.16.0.1	Daemon address as seen from the PC.
network.cmd_port / state_port	5555 / 5556	REQ/REP and PUB ports.
network.state_cache	256	Client-side frame cache depth.
robot.ip	172.16.0.2	FCI address (NUC side).
robot.init_q	Franka home	examples/move_to.py default (home) target, 7 floats [rad].
control.kp_pos / kp_ori	200 N/m / 20 N·m/rad	Initial gains the daemon writes at startup; runtime override via set_gains (persists across restarts). Also the defaults of cart_impedance.py --kp-*.
control.kd_pos / kd_ori	null	null → 2√kp (osc_shm’s auto rule).
control.error_delta_pos	0 (pure impedance)	Per-tick position error clamp + tracking abort. > 0 clips |e_pos|∞ — bounding the push to kp_pos · error_delta_pos — and aborts past it; 0 disables both. The orientation channel is never clamped. Why 0 ships: Safety chain. Runtime override via set_gains(error_delta_pos=) or python examples/cart_impedance.py --err-delta-pos.
collision.torque_threshold / cartesian_threshold	100 N·m / 100 N	setCollisionBehavior thresholds (all entries).
paths.build_dir	build	Where osc_shm / move_to live (relative to repo root).
paths.shm_name	/frankatwin_osc	POSIX shm name.
reset.q_max_speed	0.5 rad/s	Per-joint velocity cap for both move_to modes, (0, 1.25]. Motion time follows from the travel. Approximate for --pose — see Usage.
load.mass / com / inertia	0 / 0 / 0	Extra payload for setLoad; see the comments in the file.
gripper.enabled	true	false makes every gripper_* command fail fast (no Franka Hand).
gripper.move_speed / grasp_speed	0.1 / 0.1 m/s	Rate the gripper width changes for gripper_open (Gripper::move) / gripper_close (Gripper::grasp). 0.1 m/s is the ceiling: the product manual gives 50 mm/s per finger, and both fingers move.
gripper.grasp_force	70 N	Squeeze force once the fingers stall — the knob for how hard an object is held. The manual gives the continuous force as adjustable 30–70 N, so 30 is the floor; below it you do not get a gentler hold. For something crushable, stop the jaws early with --close-width instead.
gripper.grasp_width	−0.01 m	Width the fingers drive towards when closing. Past full closure ⇒ they always reach the object and the object sets the resting width.
gripper.epsilon_inner / epsilon_outer	0.08 / 0.08 m	Band around grasp_width inside which libfranka reports is_grasped / result: true. 0.08 = whole stroke = every stall counts (deoxys behaviour); tighten to make “grasped” meaningful.
gripper.max_width	0.08 m	Full stroke; the default and upper bound for gripper_open() and examples/gripper.py --width.

FRANKATWIN_CONFIG=/path/to.yaml overrides the default location.