From eba8ebc5a3fbab27a8ad60c8335ca8ac6495ead6 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Tue, 21 Jul 2020 01:13:29 +0200 Subject: [PATCH] synchronize config --- config/config.yaml | 25 ++++++++++++++++--------- 1 file changed, 16 insertions(+), 9 deletions(-) diff --git a/config/config.yaml b/config/config.yaml index a7dc5c3..98d68fe 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" -- GitLab