control_machine.yml

# Copyright 2022-2023 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

---
image: "080653068785.dkr.ecr.eu-west-2.amazonaws.com/shadow-teleop-polhemus" # Docker image name
tag: "noetic-night-build" # Tag of the exact Docker hub image to pull
reinstall: false # Flag to know if the docker container should be fully reinstalled
bimanual: false # Determines if left arm and left hand should be set up
ethercat_left_arm: "enx2" # Ethercat interface of the left arm
ethercat_right_arm: "eth1" # Ethercat interface of the right arm
allow_auto_reboot: true # Allow Ansible to reboot the control_machine automatically during software installation
use_aws: false # Boolean to indicate whether ROS logs will be uploaded to AWS S3
glove: "shadow_glove" # Determines which glove is installed (haptx or shadow_glove)
container_name: "shadow_teleop" # Name of the docker container
setup_directory: "/usr/local/bin" # Where setup scripts should be installed that are launched when Docker starts
terminator: false # Launch terminator when the Docker starts
nvidia_docker: false # Define if nvidia-container-toolkit is used (defaul is false)
use_steamvr: false # Determines if SteamVR will launch inside the container created on this machine
hand_side: "right" # Specify if the hand is right or left (ignored if bimanual=true)
arm_ip_left: "" # Specify the IP address of left arm
arm_ip_right: "" # Specify the IP address of right arm
ur_robot_type: "ur10e" # Specify ur robot type: ur10, ur10e, ur5, ur5e
remote_bag_user: "shadowop"
remote_bag_storage_IP: "10.5.10.59"
remote_bag_storage_location: "/volume1/ros_bags"
pr_branches: "" # Space-separated list of PRs (https://github.com/shadow-robot/repo/pull/266) or branches (https://github.com/shadow-robot/repo/tree/custom_branch) to check out on NUC and catkin_make
record_data: false
local_image: false # This boolean dictates if you want to use a local image or not. Skips all authentication checks and stops the image from being pulled.
delivery: true # This variable is used to determine whether we are using this for product delivery, or for development purposes. (should be used internally by Shadow Engineers)
ansible_become_password: !vault |
          $ANSIBLE_VAULT;1.1;AES256
          37666530346662303365643738316338633231613365666339383135616237666336646133326435
          6166613437633262363964613332343363343439323534300a323538326234326139313133653861
          31613934306166313637326339313136393537393664663664353862613762646333646437646630
          3331323561646639620a363162363661363834616465393132383664363038666532323162393934
          3239
ansible_ssh_pass: !vault |
          $ANSIBLE_VAULT;1.1;AES256
          37666530346662303365643738316338633231613365666339383135616237666336646133326435
          6166613437633262363964613332343363343439323534300a323538326234326139313133653861
          31613934306166313637326339313136393537393664663664353862613762646333646437646630
          3331323561646639620a363162363661363834616465393132383664363038666532323162393934
          3239

skip_molecule_task: false # Used for automated tests - should not be used by users