version: "3.9"
services:
  controller:
    build: .
    ports:
      - "8888:8888"
    environment:
      - MASTER_IP=10.6.6.8
      - SLAVE_IP=10.6.6.8
      #BME lab Configuration
      # Fred
      #MASTER_IP=10.6.6.12
      # Erik
      #SLAVE_IP=10.6.6.10
      # Master: RG2 Gripper
      - MASTER_GRIPPER_WIDTH_OPENED=50
      - MASTER_GRIPPER_WIDTH_CLOSED=28
      # Slave: RG2FT Gripper
      - SLAVE_GRIPPER_IP=10.6.6.11
      - SLAVE_GRIPPER_WIDTH_OPENED=90
      - SLAVE_GRIPPER_WIDTH_CLOSED=28
      - MASTER_ENABLE=0
      - SLAVE_ENABLE=0
      - JOGGING_ENABLE=1
      - EXECUTION=SLOW
      #EXECUTION=FAST
      #Used with moveL
      - L_SPEED_SLOW=0.05
      - L_SPEED_FAST=0.1
      - L_ACC_SLOW=0.75
      - L_ACC_FAST=0.75
      #Used with moveJ
      - J_SPEED_SLOW=1
      - J_SPEED_FAST=1
      - J_ACC_SLOW=4
      - J_ACC_FAST=4