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Commit 4cfcd1b6 authored by Johannes Mey's avatar Johannes Mey
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add more config and launch files

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config/config_scene_ceti-table.json 0 → 100644
+ 389
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View file @ 4cfcd1b6
{
"objects": [
{
"id": "wheel_1",
"pos": {
"x": 0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_2",
"pos": {
"x": -0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_3",
"pos": {
"x": -0.28,
"y": 0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "wheel_4",
"pos": {
"x": 0.28,
"y": -0.28,
"z": 0.06
},
"size": {
"length": 0.12,
"width": 0.12,
"height": 0.12
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table_body",
"pos": {
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.69,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table-top",
"pos": {
"z": 0.885
},
"size": {
"length": 0.8,
"width": 0.8,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "left_panel",
"pos": {
"z": 0.885,
"y": -0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "right_panel",
"pos": {
"z": 0.885,
"y": 0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "ffront_panel",
"pos": {
"z": 0.885,
"x": 0.6525
},
"size": {
"length": 0.5,
"width": 0.7,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "binBlue",
"type": "BIN",
"pos": {
"x": -0.255,
"y": 0.5475,
"z": 0.9675
},
"size": {
"length": 0.19,
"width": 0.285,
"height": 0.155
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "binRed",
"type": "BIN",
"pos": {
"x": -0.055,
"y": 0.5475,
"z": 0.9675
},
"size": {
"length": 0.19,
"width": 0.285,
"height": 0.155
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "binGreen",
"type": "BIN",
"pos": {
"x": 0.145,
"y": 0.5475,
"z": 0.9675
},
"size": {
"length": 0.19,
"width": 0.285,
"height": 0.155
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "object4x2x1.5",
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.3,
"z": 0.9067
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0334
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x2.0",
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.2,
"z": 0.9115
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.043
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x2.5",
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.1,
"z": 0.9163
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0526
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x3.0",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0,
"z": 0.9211
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0622
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x3.5",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.1,
"z": 0.9259
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0718
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x4.0",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.2,
"z": 0.9307
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "object4x2x4.5",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.3,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {}
},
{
"id": "arm",
"type": "ARM",
"pos": {
"z": 0.89,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_ceti-table.yaml 0 → 100644
+ 44
− 0
View file @ 4cfcd1b6
# create json file using
# yq eval -o=json config_scene_ceti-table.yaml > config_scene_ceti-table.json
{ 'objects': [
# table
# height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
# wheels width/depth/height 12*12*12
# body width/depth/height 69*69*76
# table-top width/depth/height 80*80*1
# panels are 50*70, with 0.5 cm distance to the table-top
# height of both is 12 + 76 + .5 = 88.5
# their centre is at 40 + 0.25 + 25 = 65.25
{ 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'ffront_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m
# the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
# their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.055,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.145,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
# heights of objects (including pins):
# formula: half-height * 9.6 + 4.6
# formula (python)
# for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000));
{ 'id': 'object4x2x1.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.300000,'z': 0.906700 },'size': { 'length': .0318, 'width': .0636,'height': 0.033400 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x2.0','type': 'BOX','pos': { 'x': 0.3,'y': -0.200000,'z': 0.911500 },'size': { 'length': .0318, 'width': .0636,'height': 0.043000 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x2.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.100000,'z': 0.916300 },'size': { 'length': .0318, 'width': .0636,'height': 0.052600 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x3.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.921100 },'size': { 'length': .0318, 'width': .0636,'height': 0.062200 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x3.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.925900 },'size': { 'length': .0318, 'width': .0636,'height': 0.071800 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x4.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.930700 },'size': { 'length': .0318, 'width': .0636,'height': 0.081400 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x4.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
launch/ceti-table_robot_main.launch 0 → 100644
+ 19
− 0
View file @ 4cfcd1b6
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<arg name="load_gripper" default="true" />
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
<include file="$(find ccf)/launch/robot_setup.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
<param name="connection_address" type="string" value="$(arg connection_address)" />
<param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
</node>
</launch>
launch/ceti-table_robot_main_dummy_selector.launch 0 → 100644
+ 4
− 0
View file @ 4cfcd1b6
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/ceti-table_robot_main.launch" />
</launch>
launch/ceti-table_simulated_main.launch 0 → 100644
+ 14
− 0
View file @ 4cfcd1b6
<launch>
<arg name="connection_address" default="tcp://*:6576" />
<arg name="client_controllers" default="[]" />
<include file="$(find ccf)/launch/simulation_setup.launch"/>
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
<param name="connection_address" type="string" value="$(arg connection_address)" />
<param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
<param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
</node>
</launch>
launch/ceti-table_simulated_main_dummy_selector.launch 0 → 100644
+ 4
− 0
View file @ 4cfcd1b6
<launch>
<node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen"/>
<include file="$(find ccf_immersive_sorting)/launch/ceti-table_simulated_main.launch" />
</launch>
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