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"
-- 
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