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correct poses and add yaml config file

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Ilya Uraev 2024-03-01 21:05:24 +03:00
parent b53cd30994
commit 58567a4b17
2 changed files with 304 additions and 138 deletions
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276
asp-example/robossembler_db.json
View file

@ -2,232 +2,232 @@
"assets_db": "assets",
"workspace": [
{
"position": { "x": 0.2, "y": 0.2, "z": 0.0 }
"point": { "x": 0.2, "y": 0.2, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": 0.2, "z": 0.0 }
"point": { "x": 0.4, "y": 0.2, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": -0.2, "z": 0.0 }
"point": { "x": 0.4, "y": -0.2, "z": 0.0 }
},
{
"position": { "x": 0.2, "y": -0.2, "z": 0.0 }
"point": { "x": 0.2, "y": -0.2, "z": 0.0 }
}
],
"absolutePart": {
"name": "board",
"pose": {
"quaternion": {
"qw": "0.100000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 0.1,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"position": {
"x": "0.500000",
"y": "0.000000",
"z": "0.000000"
"point": {
"x": 0.5,
"y": 0.0,
"z": 0.0
}
}
},
"relativeParts": [
{
"name": "bishop",
"relativeAt": "board",
"relative_at": "board",
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"position": {
"x": "-0.001700",
"y": "0.002927",
"z": "-0.000003"
"point": {
"x": -0.0017,
"y": 0.002927,
"z": -0.000003
}
}
},
{
"name": "king",
"relativeAt": "board",
"relative_at": "board",
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"pose": {
"x": "-0.008500",
"y": "0.003729",
"z": "0.000000"
"point": {
"x": -0.0085,
"y": 0.003729,
"z": 0.0
}
}
},
{
"name": "knight",
"relativeAt": "board",
"relative_at": "board",
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"pose": {
"x": "0.001700",
"y": "0.003012",
"z": "-0.000160"
"point": {
"x": 0.0017,
"y": 0.003012,
"z": -0.00016
}
}
},
{
"name": "queen",
"relativeAt": "board",
"position": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"relative_at": "board",
"pose": {
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"position": {
"x": "-0.005100",
"y": "0.003340",
"z": "0.000000"
"point": {
"x": -0.0051,
"y": 0.00334,
"z": 0.0
}
}
},
{
"name": "pawn",
"relativeAt": "board",
"relative_at": "board",
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"position": {
"x": "0.008500",
"y": "0.002238",
"z": "0.000000"
"point": {
"x": 0.0085,
"y": 0.002238,
"z": 0.0
}
}
},
{
"name": "rook",
"relativeAt": "board",
"relative_at": "board",
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"quat": {
"qw": 1.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0
},
"position": {
"x": "0.005100",
"y": "0.002667",
"z": "0.000000"
"point": {
"x": 0.0051,
"y": 0.002667,
"z": 0.0
}
}
}
],
"graspPoseModels": [
{
"name": "king",
"relative_at": "king",
"pose": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"quat": {
"qw": 0.525322,
"qx": 0.0,
"qy": 0.850904,
"qz": 0.0
},
"position": {
"x": "-0.000020",
"y": "0.003071",
"z": "0.000000"
"point": {
"x": -0.00002,
"y": 0.003071,
"z": 0.0
}
}
},
{
"name": "queen",
"relative_at": "queen",
"pose": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"quat": {
"qw": 0.525322,
"qx": 0.0,
"qy": 0.850904,
"qz": 0.0
},
"position": {
"x": "0.000038",
"y": "0.003360",
"z": "0.000000"
"point": {
"x": 0.000038,
"y": 0.00336,
"z": 0.0
}
}
},
{
"name": "bishop",
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"relative_at": "bishop",
"pose": {
"quat": {
"qw": 0.525322,
"qx": 0.0,
"qy": 0.850904,
"qz": 0.0
},
"pose": {
"x": "0.000000",
"y": "0.0",
"z": "0.056"
"point": {
"x": 0.0,
"y": 0.0,
"z": 0.056
}
}
},
{
"name": "knight",
"position": {
"quaternion": {
"qw": "0.200770",
"qx": "-0.400576",
"qy": "0.799230",
"qz": "-0.400576"
"relative_at": "knight",
"pose": {
"quat": {
"qw": 0.20077,
"qx": -0.400576,
"qy": 0.79923,
"qz": -0.400576
},
"position": {
"x": "0.000000",
"y": "0.002604",
"z": "-0.000440"
"point": {
"x": 0.0,
"y": 0.002604,
"z": -0.00044
}
}
},
{
"name": "rook",
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"relative_at": "rook",
"pose": {
"quat": {
"qw": 0.525322,
"qx": 0.0,
"qy": 0.850904,
"qz": 0.0
},
"position": {
"x": "0.000000",
"y": "0.002233",
"z": "0.000000"
"point": {
"x": 0.0,
"y": 0.002233,
"z": 0.0
}
}
},
{
"name": "pawn",
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"relative_at": "pawn",
"pose": {
"quat": {
"qw": 0.525322,
"qx": 0.0,
"qy": 0.850904,
"qz": 0.0
},
"position": {
"x": "0.000000",
"y": "0.002162",
"z": "0.000000"
"point": {
"x": 0.0,
"y": 0.002162,
"z": 0.0
}
}
}

166
asp-example/robossembler_db.yaml Normal file
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@ -0,0 +1,166 @@
assets_db: assets
workspace:
- x: 0.200000
y: 0.200000
z: 0.00000
- x: 0.400000
y: 0.200000
z: 0.00000
- x: 0.400000
y: -0.200000
z: 0.00000
- x: 0.200000
y: -0.200000
z: 0.00000
absolute_part:
name: board
pose:
position:
x: 0.500000
y: 0.00000
z: 0.00000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 0.100000
relative_part:
- name: bishop
relative_at: board
pose:
position:
x: -0.00170000
y: 0.00292700
z: -3.00000e-06
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
- name: king
relative_at: board
pose:
position:
x: -0.00850000
y: 0.00372900
z: 0.00000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
- name: knight
relative_at: board
pose:
position:
x: 0.00170000
y: 0.00301200
z: -0.000160000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
- name: queen
relative_at: board
pose:
position:
x: -0.00510000
y: 0.00334000
z: 0.00000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
- name: pawn
relative_at: board
pose:
position:
x: 0.00850000
y: 0.00223800
z: 0.00000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
- name: rook
relative_at: board
pose:
position:
x: 0.00510000
y: 0.00266700
z: 0.00000
orientation:
x: 0.00000
y: 0.00000
z: 0.00000
w: 1.00000
grasp_pose:
- name: king
pose:
position:
x: -2.00000e-05
y: 0.00307100
z: 0.00000
orientation:
x: 0.00000
y: 0.850904
z: 0.00000
w: 0.525322
- name: queen
pose:
position:
x: 3.80000e-05
y: 0.00336000
z: 0.00000
orientation:
x: 0.00000
y: 0.850904
z: 0.00000
w: 0.525322
- name: bishop
pose:
position:
x: 0.00000
y: 0.00000
z: 0.0560000
orientation:
x: 0.00000
y: 0.850904
z: 0.00000
w: 0.525322
- name: knight
pose:
position:
x: 0.00000
y: 0.00260400
z: -0.000440000
orientation:
x: -0.400576
y: 0.799230
z: -0.400576
w: 0.200770
- name: rook
pose:
position:
x: 0.00000
y: 0.00223300
z: 0.00000
orientation:
x: 0.00000
y: 0.850904
z: 0.00000
w: 0.525322
- name: pawn
pose:
position:
x: 0.00000
y: 0.00216200
z: 0.00000
orientation:
x: 0.00000
y: 0.850904
z: 0.00000
w: 0.525322