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config.yaml 751 Bytes
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panda_mqtt_connector:
  server: "tcp://localhost:1883"
  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:
    - position: "0 0 0"
      wait: "3"
    - position: "1 1 1"
      wait: "2"