! ------------------------------------------
! EASY-ROB Environment File:
!
! 	easy-rob.env
!
! ------------------------------------------
FLOOR_ON 1
FLOOR_WIRE_ON 1
FLOOR_LENGTH 20.000000
FLOOR_DLENGTH 1.000000
! Floor position w.r.t. world origin in [mm,deg]
FLOOR_POSITION 0.000 0.000 0.000 0.00 0.00 0.00
FLOOR_COLOR 0.680000 0.680000 0.680000
BACKGROUND_COLOR 0.005000 0.000000 0.320000
HITHER 0.020000
YONDER 20.000000
VIEW_STEPS 20
2_MOUSE_BUTTONS 0
MONI_MSG_OUTPUT 0
WINDOW_SIZE 10 10 720 480
!
! User defined Units
! View-Menu: ->Grafic View Data
!
! Examples:
!	M_TO_UNIT 1000.000000 mm
!	M_TO_UNIT 39.370079 inch
!	M_TO_UNIT 1.000000 m
M_TO_UNIT 1000.000000 mm
!
! Remote Messages: 1 - shows all remote messages in the Message Window
REMOTE_MSG_OUTPUT 0
REMOTE_TRACE_FILE remote_trace_prg.prg
EXPORT_FILE 1
!
! Toolbar 0-Standard Icons, 1-New Icons Normal, 2-New Icon Hot
TOOLBAR_MODE 2
!
! SHOW_TAG_CONNECT = 1, will connect all tags in the current path
SHOW_TAG_CONNECT 0
!
! SHOW_TAG_TEXT = 1, will show the name of all tags in the current path
SHOW_TAG_TEXT 1
!
! GRAD_BCKGND = 1, enables gradient background
GRAD_BCKGND 1
!
! STOP_UNREACH = 1, enables stop on unreachable position
STOP_UNREACH 0
!
! STOP_SWE = 1, enables stop on limit switch
STOP_SWE 0
!
! KEEP_IN_TRAVEL_RANGE = 1, keep robot joints in travel range
KEEP_IN_TRAVEL_RANGE 0
!
! STOP_SPEED = 1, enables stop on speed exceeded
STOP_SPEED 0
!
! STOP_ACCEL = 1, enables stop on acceleration exceeded
STOP_ACCEL 0
!
! STOP_COLLISION = 1, enables stop on collision
STOP_COLLISION 0
!
! USE_VBO = 1, enables vertex buffer objects, if supported by the grafics board
USE_VBO 0
!
! DISABLE_CROBOT_BBOX = 1, disables always visualization of bBox for current selected robot
DISABLE_CROBOT_BBOX 0
!
! DISABLE_3D_CAD_BBOX = 1, disables always visualization of bBox for current selected 3d Cad object
DISABLE_3D_CAD_BBOX 0
!
! DISABLE TOOLBARS
!	 Bits from >>-- left --<< side
!	 Bit 0: forces to enable all available toolbars
!	 Bit 1: Load,Save toolbar
!	 Bit 2: Render toolbar
!	 Bit 3: Run toolbar
!	 Bit 4: OnOff toolbar
!	 Bit 5: 3DCad toolbar
!	 Bit 6: Move toolbar
!	 Bit 7: MouseMove toolbar
!	 Example 00010000 --> Bit 3 disables Run toolbar
!	 Example 01111110 --> shows MouseMove toolbar only
DISABLE_TOOLBAR 00000000
!
! User defined name for inverse kinematics, er_kin.dll
ER_KIN_DLL er_kin.dll
!
! User defined name for motion planning and execution, er_ipo.dll
ER_IPO_DLL er_ipo.dll
!
! User defined name for dynamics and controll, er_dyn.dll
ER_DYN_DLL er_dyn.dll
!
! COLL_BODY_ROBOT = 1, enables collision between Bodies vs. all Robots
COLL_BODY_ROBOT 1
!
! COLL_BODY_TOOL = 1, enables collision between Bodies vs. all Tools
COLL_BODY_TOOL 1
!
! COLL_ROBOT_TOOL = 1, enables collision between Robot vs. its Tool
COLL_ROBOT_TOOL 0
!
! COLL_GRAB_BODY_BODY = 1, enables collision between grabbed Bodies vs. not grabbed Bodies
COLL_GRAB_BODY_BODY 1
!
! COLL_GRAB_BODY_ROBOT = 1, enables collision between grabbed Bodies vs. all Robots
COLL_GRAB_BODY_ROBOT 1
!
! COLL_ROBOT_ROBOT = 1, enables collision between Robot itself
COLL_ROBOT_ROBOT 0
!
! COLL_BODY_BODY = 1, enables collision between Bodies itself
COLL_BODY_BODY 0
!
