change the config file for catching swing object

configs/config_swing.yaml

@@ -0,0 +1,24 @@
+estimation:
+#  condition: 0.95 #0.85
+  condition: -2.2 # simulation
+  uncertainty: 0.12
+
+object:
+  finObjPos: [0., 0.0, 0.0, 0, 0, 0]
+#  finObjPos: [0.2, 0.0, 1.4, 3.14, 0, 0]
+  maxObjPos: [10, 10, 10, 10, 10, 10]
+  finObjVel: [0., 0., 0., 0., 0., 0.]
+  maxObjVel: [10, 10, 10, 10, 10, 10]
+  slackObjPos: [2.2, 2.2, 2.2, 3.14, 3.14, 3.14]
+  slackObjVel: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
+  reducedNode: 15
+
+robotYin:
+  workspace: 1.0
+  minWorkspace: [-1.0, -0.8, -0.2]
+  maxWorkspace: [1.0, 0.8, 0.9]
+
+robotYang:
+  workspace: 1.0
+  minWorkspace: [-1.0, -0.8, -0.2]
+  maxWorkspace: [1.0, 0.8, 0.9]