1 files changed, 30 insertions, 0 deletions
diff --git a/controllers/final/positions.py b/controllers/final/positions.py
new file mode 100644
index 0000000..e47d841
--- /dev/null
+++ b/controllers/final/positions.py
@@ -0,0 +1,30 @@
+# Predefined positions of different joints.
+lift_pos = {
+    "torso_lift_joint": .25,
+    "arm_1_joint": 1.6,
+    "arm_2_joint": .5,
+    "arm_4_joint": .5,
+    "arm_7_joint": 1.55,
+}
+retract_pos = {
+    "torso_lift_joint": .25,
+    "arm_1_joint": 1.6,
+    "arm_2_joint": .85,
+    "arm_4_joint": 1.,
+    "arm_7_joint": 1.55,
+}
+raise_torso = {"torso_lift_joint": .35}
+place_pos = {
+    "torso_lift_joint": .05,
+    "arm_1_joint": 1.6,
+    "arm_2_joint": .5,
+    "arm_4_joint": .5,
+    "arm_7_joint": 1.55,
+}
+# | merges two dictionaries.
+grasp_pos = place_pos | {
+    "torso_lift_joint": .15,
+    "gripper_left_finger_joint": .045,
+    "gripper_right_finger_joint": .045,
+}
+rotate_pos = retract_pos | { "arm_4_joint": 2.25, "arm_2_joint": 1., }