synchronize config

config/config.yaml

@@ -11,7 +11,8 @@ panda_mqtt_connector:
   zone_size: 0.5
   zones:
     - "1 1"
-    - "-1 -1 1"
+    - "0 1"
+    - "-1 1"
   parts:
     panda:
       Link0: "panda::panda_link0"
@@ -21,15 +22,21 @@ panda_mqtt_connector:
       Link4: "panda::panda_link4"
       Link5: "panda::panda_link5"
       Link6: "panda::panda_link6"
+      EndEffector: "panda::panda_link7"
       LeftFinger: "panda::panda_leftfinger"
-      RightFinger: "panda::panda_rightfinger"
   end_effectors:
     panda:
-      EndEffector: "panda::panda_link7"
+      RightFinger: "panda::panda_rightfinger"
   goal_poses:
-    - position: "0.4 0.3 0.1"
-      wait: "5000"
-    - position: "0.4 0.0 0.1"
-      wait: "3000"
-    - position: "0.4 -0.3 0.1"
-      wait: "4000"
+    - position: "0.4 0.4 0.3"
+      orientation: "1 1 0 0"
+      work: "20000"
+    - position: "-0.4 0.4 0.3"
+      orientation: "1 1 0 0"
+      work: "20000"
+    - position: "-0.4 -0.4 0.3"
+      orientation: "1 1 0 0"
+      work: "20000"
+    - position: "0.4 -0.4 0.3"
+      orientation: "1 1 0 0"
+      work: "20000"