System configuration

Main configuration file

All system parameters are stored in a single file: cobot-setting.yaml in the project root. It is the single source of truth for the robot IP address, ports, configuration paths, planner settings, and web server settings.

No manual configuration is needed before installation

When you run cobot setup, the wizard offers to configure this file automatically in step 2. Return to this section when you want to change parameters after the initial installation.

Do not edit the file manually

Use only cobot robot-setup. The interactive wizard validates values and prevents syntax errors. Editing the YAML manually may cause parsing errors and prevent the system from starting.

cobot robot-setup

`robot` section — robot parameters

Controls the connection to the physical KUKA controller through FRI.

robot:
  name: "iiwa7"
  ip: "192.170.10.2"
  port: 30200
  fri_cycle_ms: 10
  joint_position_tau: 0.04
  joint_velocity_tau: 0.01
  active_controller: "jtc"
  description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro

Parameter	Description	Recommendation
`name`	Robot model	Do not change: `iiwa7`
`ip`	KUKA controller IP address	Change to the actual controller address
`port`	FRI UDP port	Default: `30200`; change only if the port conflicts
`fri_cycle_ms`	FRI cycle: `5` ms = 200 Hz, `10` ms = 100 Hz	Use `10` for stable operation or `5` for high-precision tasks
`joint_position_tau`	Position EMA filter [s], smoothing commands before transmission	Decrease for a faster response; increase if vibration occurs
`joint_velocity_tau`	Velocity EMA filter [s], removing finite-difference spikes	Tune in the same way as `joint_position_tau`
`active_controller`	Control mode: `jtc` (MoveIt / JointTrajectory) or `forward` (direct control)	Use `jtc` for most tasks
`description`	Path to the robot URDF	Do not change

`digital_twin` section — simulator

Configures the Webots environment and RViz visualization.

digital_twin:
  webots:
    world: pkg://iiwa_description/worlds/iiwa.wbt
    transform: "-0.25 0 0.79"
    rotation: "0 0 1 0"
    controller_timer: "50"
    cameras:
      - pkg://iiwa_config/config/cameras/d455_top.yaml
  rviz:
    config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz

Parameter	Description
`webots.world`	Path to the simulator `.wbt` world
`webots.transform`	Robot base offset in the world `[x y z]`, in meters
`webots.rotation`	Base orientation `[x y z angle]`, in radians
`webots.cameras`	List of YAML configurations for connected cameras
`rviz.config`	Path to the RViz configuration

`tool` section — active tool

Specifies which gripper or tool is attached to the robot.

tool:
  active: "patron"

Value	Description
`none`	No tool
`patron`	Patron chuck/gripper

Available tools are defined in src/iiwa_config/config/tools.yaml. To add a tool, describe it there and then set its name in tool.active.

`planning` section — motion planning

Configures MoveIt 2 and the trajectory planner.

planning:
  pose_link: "tcp"
  planning_group: "iiwa_arm"
  default_frame: "base_link"
  default_planner: "ompl"
  planning_attempts: 3

Parameter	Description	Recommendation
`pose_link`	TCP link used for Cartesian targets	Must match the URDF frame; do not change without updating the URDF
`planning_group`	Planning group from the SRDF	Do not change: `iiwa_arm`
`default_frame`	Default reference frame	Do not change: `base_link`
`default_planner`	Planner: `ompl` or `pilz_industrial_motion_planner`	`ompl` is general purpose; `pilz` produces predictable trajectories
`planning_attempts`	Number of planning attempts after failure	Increase for difficult trajectories

`web` section — REST API and MCP server

Configures the FastAPI server used to control the robot over HTTP and MCP for AI-agent integration.

web:
  enabled: true
  host: "0.0.0.0"
  port: 8007
  endpoints: pkg://iiwa_config/config/api_endpoints.yaml
  joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml

Parameter	Description
`enabled`	Enable (`true`) or disable (`false`) the web server
`host`	Listening address: `0.0.0.0` for all interfaces or `127.0.0.1` for local access only
`port`	HTTP API port; default: `8007`
`endpoints`	Path to the REST endpoint description
`joint_limits`	Path to joint limits used for command validation

After startup, the REST API is available at http://<host>:8007, and MCP is available at /mcp.

`foxglove` section — Foxglove Studio monitoring

Foxglove Studio visualizes and monitors ROS 2 topics in real time.

foxglove:
  enabled: true
  port: 8765
  debug: false
  address: 0.0.0.0

Parameter	Description
`enabled`	Enable or disable Foxglove Bridge
`port`	WebSocket port used by Foxglove Studio; default: `8765`
`debug`	Detailed logging for the bridge process
`address`	WebSocket listening address

The remaining parameters (tls, topic_whitelist, min_qos_depth, and others) are intended for advanced configuration and normally do not need to be changed.

What to change and what to keep

	Parameter	Action
✅	`robot.ip`	Must be changed to the controller IP address
✅	`robot.fri_cycle_ms`	Select `10` (standard) or `5` (high frequency)
✅	`tool.active`	Set the active tool
✅	`web.enabled`	Set to `false` if the web interface is not needed
⚠️	`robot.active_controller`	Change only when intentionally switching the control mode
⚠️	`planning.*`	Change only when another planner or other parameters are required
❌	`robot.description`	Do not change; this is the URDF path
❌	`controller.moveit.*`	Do not change; these are package-internal MoveIt configuration paths
❌	`digital_twin.webots.world`	Do not change unless you understand the Webots world structure

System configuration

Main configuration file

robot section — robot parameters

digital_twin section — simulator

tool section — active tool

planning section — motion planning

web section — REST API and MCP server

foxglove section — Foxglove Studio monitoring