From 749adc65f555f2f40df6bcdaf1cba9731a57431a Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Thu, 13 Jun 2024 19:26:02 +0300 Subject: [PATCH] add yaml db and change static model to dynamic --- asp-example/rbs_db.yaml | 65 +++++++++++++++++++++ asp-example/robossembler_db.yaml | 47 ++++++++++++++- asp-example/sdf_generation/bishop/model.sdf | 14 ++++- asp-example/sdf_generation/board/model.sdf | 10 +++- 4 files changed, 133 insertions(+), 3 deletions(-) create mode 100644 asp-example/rbs_db.yaml diff --git a/asp-example/rbs_db.yaml b/asp-example/rbs_db.yaml new file mode 100644 index 0000000..ca6d232 --- /dev/null +++ b/asp-example/rbs_db.yaml @@ -0,0 +1,65 @@ +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 +grasp_pose: + - name: pose01_pregrasp + relative_at: bishop + pose: + position: + x: -0.10000 + y: 0.00000 + z: 0.1000000 + orientation: + x: 0.00000 + y: 0.850904 + z: 0.00000 + w: 0.525322 + - name: pose02_grasp + relative_at: bishop + pose: + position: + x: 0.00000 + y: 0.00000 + z: 0.0560000 + orientation: + x: 0.00000 + y: 1.00000 + z: 0.00000 + w: 0.00000 +extra_poses: [] diff --git a/asp-example/robossembler_db.yaml b/asp-example/robossembler_db.yaml index 0978e84..74336a7 100644 --- a/asp-example/robossembler_db.yaml +++ b/asp-example/robossembler_db.yaml @@ -163,4 +163,49 @@ grasp_pose: x: 0.00000 y: 0.850904 z: 0.00000 - w: 0.525322 \ No newline at end of file + w: 0.525322 +extra_poses: + - name: pose_arm1_pick + pose: + position: + x: -0.945 + y: -2.14 + z: 1.02 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - name: pose_arm2_pick + pose: + position: + x: 0.945 + y: -1.86 + z: 1.02 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - name: pose_arm1_place + pose: + position: + x: -0.1 + y: -2.0 + z: 1.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 + - name: pose_arm2_place + pose: + position: + x: 0.1 + y: -2.0 + z: 0.97 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 diff --git a/asp-example/sdf_generation/bishop/model.sdf b/asp-example/sdf_generation/bishop/model.sdf index 63d55bb..2053d86 100644 --- a/asp-example/sdf_generation/bishop/model.sdf +++ b/asp-example/sdf_generation/bishop/model.sdf @@ -2,8 +2,20 @@ 0 0 0 0 0 0 - false + + + 0.000000 0.000031 0.024266 0 0 0 + 0.5 + + 0.000000 + 0.000000 + -0.000000 + 0.000000 + -0.000000 + 0.000000 + + diff --git a/asp-example/sdf_generation/board/model.sdf b/asp-example/sdf_generation/board/model.sdf index b793a2e..7a21d69 100644 --- a/asp-example/sdf_generation/board/model.sdf +++ b/asp-example/sdf_generation/board/model.sdf @@ -1,7 +1,7 @@ - 0 0 0 0 0 0 + 0 0 0.001 0 0 0 true @@ -12,6 +12,14 @@ + + + + + + + +