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update poses due to the ros2 msgs

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Ilya Uraev 2024-02-17 16:34:48 +03:00
parent 23499441fa
commit b53cd30994
1 changed files with 160 additions and 82 deletions
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242
asp-example/robossembler_db.json
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@ -2,155 +2,233 @@
"assets_db": "assets",
"workspace": [
{
"position": { "x": 0.2, "y": 0.20, "z": 0.0 }
"position": { "x": 0.2, "y": 0.2, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": 0.20, "z": 0.0 }
"position": { "x": 0.4, "y": 0.2, "z": 0.0 }
},
{
"position": { "x": 0.4, "y": -0.20, "z": 0.0 }
"position": { "x": 0.4, "y": -0.2, "z": 0.0 }
},
{
"position": { "x": 0.2, "y": -0.20, "z": 0.0 }
"position": { "x": 0.2, "y": -0.2, "z": 0.0 }
}
],
"absolutePart": {
"name": "board",
"position": { "x": "0.500000", "y": "0.000000", "z": "0.000000" },
"quaternion": {
"qw": "0.100000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "0.100000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"position": {
"x": "0.500000",
"y": "0.000000",
"z": "0.000000"
}
}
},
"relativeParts": [
{
"name": "bishop",
"relativeAt": "board",
"position": { "x": "-0.001700", "y": "0.002927", "z": "-0.000003" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"position": {
"x": "-0.001700",
"y": "0.002927",
"z": "-0.000003"
}
}
},
{
"name": "king",
"relativeAt": "board",
"position": { "x": "-0.008500", "y": "0.003729", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"pose": {
"x": "-0.008500",
"y": "0.003729",
"z": "0.000000"
}
}
},
{
"name": "knight",
"relativeAt": "board",
"position": { "x": "0.001700", "y": "0.003012", "z": "-0.000160" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"pose": {
"x": "0.001700",
"y": "0.003012",
"z": "-0.000160"
}
}
},
{
"name": "queen",
"relativeAt": "board",
"position": { "x": "-0.005100", "y": "0.003340", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"position": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"position": {
"x": "-0.005100",
"y": "0.003340",
"z": "0.000000"
}
}
},
{
"name": "pawn",
"relativeAt": "board",
"position": { "x": "0.008500", "y": "0.002238", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"position": {
"x": "0.008500",
"y": "0.002238",
"z": "0.000000"
}
}
},
{
"name": "rook",
"relativeAt": "board",
"position": { "x": "0.005100", "y": "0.002667", "z": "0.000000" },
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "1.000000",
"qx": "0.000000",
"qy": "0.000000",
"qz": "0.000000"
},
"position": {
"x": "0.005100",
"y": "0.002667",
"z": "0.000000"
}
}
}
],
"graspPoseModels": [
{
"name": "king",
"position": { "x": "-0.000020", "y": "0.003071", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
},
"position": {
"x": "-0.000020",
"y": "0.003071",
"z": "0.000000"
}
}
},
{
"name": "queen",
"position": { "x": "0.000038", "y": "0.003360", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"pose": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
},
"position": {
"x": "0.000038",
"y": "0.003360",
"z": "0.000000"
}
}
},
{
"name": "bishop",
"position": { "x": "0.000000", "y": "0.0", "z": "0.056" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
},
"pose": {
"x": "0.000000",
"y": "0.0",
"z": "0.056"
}
}
},
{
"name": "knight",
"position": { "x": "0.000000", "y": "0.002604", "z": "-0.000440" },
"quaternion": {
"qw": "0.200770",
"qx": "-0.400576",
"qy": "0.799230",
"qz": "-0.400576"
"position": {
"quaternion": {
"qw": "0.200770",
"qx": "-0.400576",
"qy": "0.799230",
"qz": "-0.400576"
},
"position": {
"x": "0.000000",
"y": "0.002604",
"z": "-0.000440"
}
}
},
{
"name": "rook",
"position": { "x": "0.000000", "y": "0.002233", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
},
"position": {
"x": "0.000000",
"y": "0.002233",
"z": "0.000000"
}
}
},
{
"name": "pawn",
"position": { "x": "0.000000", "y": "0.002162", "z": "0.000000" },
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
"position": {
"quaternion": {
"qw": "0.525322",
"qx": "0.000000",
"qy": "0.850904",
"qz": "0.000000"
},
"position": {
"x": "0.000000",
"y": "0.002162",
"z": "0.000000"
}
}
}
]