data.yaml

waypoints:
  # To establish correspondence between waypoints and semantic locations in belief,
  # please use consistent naming here and in BeliefKeys.msg. BeliefKeys will be
  # "ROBOT_AT_" + waypoint.upper() and "TASK_AT_" + waypoint.upper()
  # Also, please use location names defined in fetchit rule book.
  # Correct names are provided below:
  gear_pick_station:
  - { x: -0.3, y: -0.4, theta: 0, frame: "schunk_0" }
  kit_station:
  - { x: 0, y: 0, theta: 0, frame: "kit_pick_1" }
  screw_bin_pick_station:
  - { x: 0.1, y: 0, theta: 0, frame: "screw_bin_0" }
  gearbox_pick_station:
  - { x: -0.1, y: -0.1, theta: 0, frame: "gearbox_pick_2"}
  schunk_manipulation:
  - { x: -0.25, y: -0.35, theta: 0, frame: "schunk_0" }
  dropoff:
  - { x: 0.1, y: 0, theta: 0, frame: "drop_off_1" }
  #stretchit
  pick_point:
  - { x: 2.0, y: -1.892, theta: 0, frame: "map" }
  drop_point:
  - { x: 2.8, y: -1.0996, theta: 1.55, frame: "map" }
  #- { x: 1.711, y: 1.25, theta: -1.55, frame: "map" }
  # - { x: 0.0, y: 0.0, theta: 1.5, frame: "map" }
  # - { x: 2.3, y: 1.0, theta: 1.5, frame: "map" }
  
  # The following waypoints can be used for a retreat from one of the above
  # stations if the situation calls for it. The format here is "origin_at_" +
  # waypoint name. The values for these keys should never need to be edited
  origin_for_gear_pick_station:
  - { x: 0, y: 0, theta: 0, frame: "map" }
  origin_for_kit_station:
  - { x: 0, y: 0, theta: 1.57, frame: "map" }
  origin_for_screw_bin_pick_station:
  - { x: 0, y: 0, theta: 3.14, frame: "map" }
  origin_for_gearbox_pick_station:
  - { x: 0, y: 0, theta: -1.57, frame: "map" }
  origin_for_dropoff:
  - { x: 0, y: 0, theta: -1.57, frame: "map" }
  origin_for_schunk_manipulation:
  - { x: 0, y: 0, theta: 0, frame: "map" }
  #stretchit
  origin_for_pick_point:
  - { x: 0, y: 0, theta: 0, frame: "map" }
  origin_for_drop_point:
  - { x: 0, y: 0, theta: 0, frame: "map" }