examples.yaml

---
# Example states configuration for mc_panda defined states

# PandaStop example
PandaStopExample:
  base: PandaStop
  # Name of the robot that will be affected by this state, defaults to the main robot
  robot: panda_hand

# PandaWaitForCollision example
PandaWaitForCollisionExample:
  base: PandaWaitForCollision
  # Name of the robot that will be affected by this state, defaults to the main robot
  robot: panda_hand
  # Joint contact thresholds, a contact is detected if the (absolute) joint
  # contact reading on the corresponding joint exceeds this value
  # Default: all values are + infinity
  jointContactThresholds: [.inf, .inf, .inf, .inf, 1.5, 0.5, 0.1]
  # Cartesian contact thresholds, a contact is detected if the (absolute)
  # cartesian contact reading on the corresponding axis exceeds this value
  # Default: all values are + infinity
  cartesianContactThresholds: [.inf, .inf, .inf, 5, 5, 20]
  # Pressure threshold, a contact is detected if the (absolute) reading on the
  # force sensor Z-axis exceed this value
  # Default: +infinity
  pressureThreshold: 15.5

# PumpStop example
PumpStopExample:
  base: PumpStop
  # Name of the robot that will be affected by this state, defaults to the main robot
  robot: panda_hand

# PumpDropOff example
PumpDropOffExample:
  base: PumpDropOff
  # Name of the robot that will be affected by this state, defaults to the main robot
  robot: panda_hand
  # Timeout specified in milliseconds
  # Default: 1000 ms (i.e. 1 second)
  timeout: 2000
  # If true waits for the command completion
  # Default: true
  waiting: true

# PumpVacuum example
PumpVacuumExample:
  base: PumpVacuum
  # Name of the robot that will be affected by this state, defaults to the main robot
  robot: panda_hand
  # Vacuum pressure specified in 10 * mbar
  # Default: 100 (i.e. 1 bar)
  vacuum: 200
  # Timeout specified in milliseconds
  # Default: 1000 ms (i.e. 1 second)
  timeout: 1000
  # Production setup profile, must be one of [kP0, kP1, kP2, kP3]
  # Default: kP0
  profile: kP1
  # If true waits for the command completion
  # Default: true
  waiting: true