config.yaml 997 Bytes
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panda_mqtt_connector:
  server: "tcp://localhost:1883"
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  robot_speed_factor: .7
  robot_planning_mode: "fluid_path" # "fluid_path" or "cartesian_path"
  default_trajectory: "<none>" # "square" or "circle", everything else is ignored
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  topics:
    robotConfig: "robotconfig"
    dataConfig: "dataconfig"
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    trajectory: "trajectory"
    nextStep: "ros2rag/nextStep"
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  zone_size: 0.5
  zones:
    - "1 1"
    - "-1 -1 1"
  parts:
    panda:
      Link0: "panda::panda_link0"
      Link1: "panda::panda_link1"
      Link2: "panda::panda_link2"
      Link3: "panda::panda_link3"
      Link4: "panda::panda_link4"
      Link5: "panda::panda_link5"
      Link6: "panda::panda_link6"
      LeftFinger: "panda::panda_leftfinger"
      RightFinger: "panda::panda_rightfinger"
  end_effectors:
    panda:
      EndEffector: "panda::panda_link7"
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  goal_poses:
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    - position: "0.4 0.3 0.1"
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      wait: "5000"
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    - position: "0.4 0.0 0.1"
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      wait: "3000"
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    - position: "0.4 -0.3 0.1"
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      wait: "4000"