diff --git a/config/config.yaml b/config/config.yaml index a7dc5c339c7671ad0acef700924babe4727ac666..98d68fee3e7f4c542f96c6e04d1c75859c4856ec 100644 --- a/config/config.yaml +++ b/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"