robossembler/assets-library
7
0
Fork 0
mirror of https://gitlab.com/robossembler/assets-library.git synced 2025-06-11 04:05:43 +03:00
Code Issues Projects Releases Packages Wiki Activity Actions

update poses due to the ros2 msgs

Browse source
This commit is contained in:
Ilya Uraev 2024-02-17 16:34:48 +03:00
parent 23499441fa
commit b53cd30994
1 changed files with 160 additions and 82 deletions
Download patch file Download diff file Expand all files Collapse all files

242
asp-example/robossembler_db.json
View file

@ -2,155 +2,233 @@
"assets_db": "assets", "assets_db": "assets",
"workspace": [ "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": { "absolutePart": {
"name": "board", "name": "board",
"position": { "x": "0.500000", "y": "0.000000", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "0.100000", "qw": "0.100000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.500000",
"y": "0.000000",
"z": "0.000000"
}
} }
}, },
"relativeParts": [ "relativeParts": [
{ {
"name": "bishop", "name": "bishop",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "-0.001700", "y": "0.002927", "z": "-0.000003" }, "pose": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "-0.001700",
"y": "0.002927",
"z": "-0.000003"
}
} }
}, },
{ {
"name": "king", "name": "king",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "-0.008500", "y": "0.003729", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"pose": {
"x": "-0.008500",
"y": "0.003729",
"z": "0.000000"
}
} }
}, },
{ {
"name": "knight", "name": "knight",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "0.001700", "y": "0.003012", "z": "-0.000160" }, "pose": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"pose": {
"x": "0.001700",
"y": "0.003012",
"z": "-0.000160"
}
} }
}, },
{ {
"name": "queen", "name": "queen",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "-0.005100", "y": "0.003340", "z": "0.000000" }, "position": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "-0.005100",
"y": "0.003340",
"z": "0.000000"
}
} }
}, },
{ {
"name": "pawn", "name": "pawn",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "0.008500", "y": "0.002238", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.008500",
"y": "0.002238",
"z": "0.000000"
}
} }
}, },
{ {
"name": "rook", "name": "rook",
"relativeAt": "board", "relativeAt": "board",
"position": { "x": "0.005100", "y": "0.002667", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "1.000000", "qw": "1.000000",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.000000", "qy": "0.000000",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.005100",
"y": "0.002667",
"z": "0.000000"
}
} }
} }
], ],
"graspPoseModels": [ "graspPoseModels": [
{ {
"name": "king", "name": "king",
"position": { "x": "-0.000020", "y": "0.003071", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "0.525322", "qw": "0.525322",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.850904", "qy": "0.850904",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "-0.000020",
"y": "0.003071",
"z": "0.000000"
}
} }
}, },
{ {
"name": "queen", "name": "queen",
"position": { "x": "0.000038", "y": "0.003360", "z": "0.000000" }, "pose": {
"quaternion": { "quaternion": {
"qw": "0.525322", "qw": "0.525322",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.850904", "qy": "0.850904",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.000038",
"y": "0.003360",
"z": "0.000000"
}
} }
}, },
{ {
"name": "bishop", "name": "bishop",
"position": { "x": "0.000000", "y": "0.0", "z": "0.056" }, "position": {
"quaternion": { "quaternion": {
"qw": "0.525322", "qw": "0.525322",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.850904", "qy": "0.850904",
"qz": "0.000000" "qz": "0.000000"
},
"pose": {
"x": "0.000000",
"y": "0.0",
"z": "0.056"
}
} }
}, },
{ {
"name": "knight", "name": "knight",
"position": { "x": "0.000000", "y": "0.002604", "z": "-0.000440" }, "position": {
"quaternion": { "quaternion": {
"qw": "0.200770", "qw": "0.200770",
"qx": "-0.400576", "qx": "-0.400576",
"qy": "0.799230", "qy": "0.799230",
"qz": "-0.400576" "qz": "-0.400576"
},
"position": {
"x": "0.000000",
"y": "0.002604",
"z": "-0.000440"
}
} }
}, },
{ {
"name": "rook", "name": "rook",
"position": { "x": "0.000000", "y": "0.002233", "z": "0.000000" }, "position": {
"quaternion": { "quaternion": {
"qw": "0.525322", "qw": "0.525322",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.850904", "qy": "0.850904",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.000000",
"y": "0.002233",
"z": "0.000000"
}
} }
}, },
{ {
"name": "pawn", "name": "pawn",
"position": { "x": "0.000000", "y": "0.002162", "z": "0.000000" }, "position": {
"quaternion": { "quaternion": {
"qw": "0.525322", "qw": "0.525322",
"qx": "0.000000", "qx": "0.000000",
"qy": "0.850904", "qy": "0.850904",
"qz": "0.000000" "qz": "0.000000"
},
"position": {
"x": "0.000000",
"y": "0.002162",
"z": "0.000000"
}
} }
} }
] ]