From cf62fdf516f965f67d6d8bc2fab3057c7a96562a Mon Sep 17 00:00:00 2001 From: rschoene <rene.schoene@tu-dresden.de> Date: Sat, 8 May 2021 12:40:04 +0200 Subject: [PATCH] Change bin to drop_off_location (untested) --- ros3rag.common/src/main/proto/cgv_connector.proto | 3 ++- ros3rag.common/src/main/resources/jastadd/types.connect | 4 ++-- ros3rag.placeA/src/main/resources/config-scene-a.json | 6 +++--- ros3rag.placeB/src/main/resources/config-scene-b.json | 6 +++--- 4 files changed, 10 insertions(+), 9 deletions(-) diff --git a/ros3rag.common/src/main/proto/cgv_connector.proto b/ros3rag.common/src/main/proto/cgv_connector.proto index be68b97..ca2f8c4 100644 --- a/ros3rag.common/src/main/proto/cgv_connector.proto +++ b/ros3rag.common/src/main/proto/cgv_connector.proto @@ -37,6 +37,7 @@ message Object { BOX = 1; BIN = 2; ARM = 3; + DROP_OFF_LOCATION = 4; } string id = 1; @@ -72,4 +73,4 @@ message Reachability { } string idRobot = 1; // the id of the robot arm repeated ObjectReachability objects = 2; // all objects reachable -} +} \ No newline at end of file diff --git a/ros3rag.common/src/main/resources/jastadd/types.connect b/ros3rag.common/src/main/resources/jastadd/types.connect index 9d2f860..ed12a00 100644 --- a/ros3rag.common/src/main/resources/jastadd/types.connect +++ b/ros3rag.common/src/main/resources/jastadd/types.connect @@ -13,8 +13,8 @@ ConvertScene maps de.tudresden.inf.st.ceti.Scene pbScene to Scene {: result.addMovableObject(movableObject); obj = movableObject; break; - case BIN: - // BIN == DropOffLocation + case DROP_OFF_LOCATION: + // DROP_OFF_LOCATION == DropOffLocation var dropOffLocation = new DropOffLocation(); result.addDropOffLocation(dropOffLocation); obj = dropOffLocation; diff --git a/ros3rag.placeA/src/main/resources/config-scene-a.json b/ros3rag.placeA/src/main/resources/config-scene-a.json index 9f09d08..6f2c1bb 100644 --- a/ros3rag.placeA/src/main/resources/config-scene-a.json +++ b/ros3rag.placeA/src/main/resources/config-scene-a.json @@ -4,9 +4,9 @@ { "id": "tablePillar3","pos": { "x": -0.77,"y": 0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, { "id": "tablePillar4","pos": { "x": 0.77,"y": -0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, { "id": "table","pos": { "z": 0.7 },"size": { "length": 1.6,"width": 1.6,"height": 0.1 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, - { "id": "binBlue","type": "BIN","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } }, - { "id": "binRed","type": "BIN","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } }, - { "id": "binGreen","type": "BIN","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } }, + { "id": "binBlue","type": "DROP_OFF_LOCATION","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } }, + { "id": "binRed","type": "DROP_OFF_LOCATION","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } }, + { "id": "binGreen","type": "DROP_OFF_LOCATION","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } }, { "id": "objectRed1","type": "BOX","pos": { "x": 0.5,"y": -0.1,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } }, { "id": "objectRed2","type": "BOX","pos": { "x": 0.25,"y": -0.2,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "w": 1 },"color": { "r": 1 } }, { "id": "objectRed3","type": "BOX","pos": { "x": -0.4,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } }, diff --git a/ros3rag.placeB/src/main/resources/config-scene-b.json b/ros3rag.placeB/src/main/resources/config-scene-b.json index f14e17f..b67a78c 100644 --- a/ros3rag.placeB/src/main/resources/config-scene-b.json +++ b/ros3rag.placeB/src/main/resources/config-scene-b.json @@ -4,9 +4,9 @@ { "id": "tablePillar3","pos": { "x": -0.77,"y": 0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, { "id": "tablePillar4","pos": { "x": 0.77,"y": -0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, { "id": "table","pos": { "z": 0.7 },"size": { "length": 1.6,"width": 1.6,"height": 0.1 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } }, - { "id": "binBlue","type": "BIN","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } }, - { "id": "binRed","type": "BIN","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } }, - { "id": "binGreen","type": "BIN","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } }, + { "id": "binBlue","type": "DROP_OFF_LOCATION","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } }, + { "id": "binRed","type": "DROP_OFF_LOCATION","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } }, + { "id": "binGreen","type": "DROP_OFF_LOCATION","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } }, { "id": "objectRed1","type": "BOX","pos": { "x": 0.5,"y": -0.1,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } }, { "id": "objectRed2","type": "BOX","pos": { "x": 0.25,"y": -0.2,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "w": 1 },"color": { "r": 1 } }, { "id": "objectRed3","type": "BOX","pos": { "x": -0.4,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } }, -- GitLab