# 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., }