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update scene

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- update to new bunker poses
- remove condition and add repeat decorator
- update grasping positions due to the new bunker model
- format gazebo world file xml and update positions of new scene
This commit is contained in:
Ilya Uraev 2025-03-12 20:46:09 +03:00
parent 255c7b1b18
commit 1ad460f4a1
5 changed files with 116 additions and 104 deletions
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BIN
rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL Normal file
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48
rbs_mill_assist/assets/bunker/model.sdf
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@ -6,41 +6,41 @@
<visual name="bunker_visual"> <visual name="bunker_visual">
<geometry> <geometry>
<mesh> <mesh>
<uri>model://bunker/meshes/bunker.stl</uri> <uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
</mesh> </mesh>
</geometry> </geometry>
<!-- <material> --> <material>
<!-- <diffuse>1 1 1 1</diffuse> --> <diffuse>1 1 1 1</diffuse>
<!-- <ambient>1 1 1 1</ambient> --> <ambient>1 1 1 1</ambient>
<!-- <specular>0.5 0.5 0.5 1</specular> --> <specular>0.5 0.5 0.5 1</specular>
<!-- <emissive>0 0 0 1</emissive> --> <emissive>0 0 0 1</emissive>
<!-- <texture> --> </material>
<!-- <diffuse_map>model://bunker/textures/shildik_sh.png</diffuse_map> -->
<!-- </texture> -->
<!-- <pbr> -->
<!-- <metal> -->
<!-- <albedo_map>model://bunker/textures/shildik_sh_d.png</albedo_map> -->
<!-- <normal_map>model://bunker/textures/shildik_sh_n.png</normal_map> -->
<!-- <roughness_map>model://bunker/textures/shildik_sh_r.png</roughness_map> -->
<!-- <metalness_map>model://bunker/textures/shildik_sh_m.png</metalness_map> -->
<!-- <ambient_occlusion_map>model://bunker/textures/shildik_sh_o.png</ambient_occlusion_map> -->
<!-- </metal> -->
<!-- </pbr> -->
<!-- </material> -->
</visual> </visual>
<collision name="laser_collision"> <collision name="bunker_collision">
<geometry> <geometry>
<mesh> <mesh>
<uri>model://bunker/meshes/bunker.stl</uri> <uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
</mesh> </mesh>
</geometry> </geometry>
<surface> <surface>
<contact> <contact>
<ode /> <ode>
<kp>1e6</kp>
<kd>1e3</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact> </contact>
<bounce /> <bounce>
<restitution>0.3</restitution>
</bounce>
<friction> <friction>
<ode /> <ode>
<mu>0.61</mu>
<mu2>0.47</mu2>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction> </friction>
</surface> </surface>
</collision> </collision>

8
rbs_mill_assist/bt/xmls/MainTree.xml
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@ -1,8 +1,9 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<root BTCPP_format="4"> <root BTCPP_format="4">
<BehaviorTree ID="Main"> <BehaviorTree ID="Main">
<Repeat num_cycles="5">
<Sequence> <Sequence>
<Condition ID="IsInPose" topic_name="/ee_pose"/> <!-- <Condition ID="IsInPose" topic_name="/ee_pose"/> -->
<SubTree ID="ToGraver" robot_name="arm" /> <SubTree ID="ToGraver" robot_name="arm" />
<Action ID="GetNamedPose" pose_name="waiting" output_pose="{named_pose}" <Action ID="GetNamedPose" pose_name="waiting" output_pose="{named_pose}"
@ -13,10 +14,11 @@
<Delay delay_msec="2000"> <Delay delay_msec="2000">
<SubTree ID="FromGraver" robot_name="arm" /> <SubTree ID="FromGraver" robot_name="arm" />
</Delay> </Delay>
<Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3" <!-- <Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3" -->
robot_name="arm" action_name="/mtjs_jtc" /> <!-- robot_name="arm" action_name="/mtjs_jtc" /> -->
</Sequence> </Sequence>
</Repeat>
</BehaviorTree> </BehaviorTree>
</root> </root>

8
rbs_mill_assist/config/grasping.yaml
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@ -3,7 +3,7 @@ to_graver:
position: position:
x: -0.3 x: -0.3
y: -0.20 y: -0.20
z: 0.1 z: 0.2
orientation: orientation:
x: 0.707 x: 0.707
y: -0.707 y: -0.707
@ -23,7 +23,7 @@ to_graver:
position: position:
x: -0.3 x: -0.3
y: -0.20 y: -0.20
z: 0.1 z: 0.2
orientation: orientation:
x: 0.707 x: 0.707
y: -0.707 y: -0.707
@ -96,7 +96,7 @@ from_graver:
position: position:
x: -0.3 x: -0.3
y: 0.20 y: 0.20
z: 0.1 z: 0.2
orientation: orientation:
x: 0.707 x: 0.707
y: -0.707 y: -0.707
@ -116,7 +116,7 @@ from_graver:
position: position:
x: -0.3 x: -0.3
y: 0.20 y: 0.20
z: 0.1 z: 0.2
orientation: orientation:
x: 0.707 x: 0.707
y: -0.707 y: -0.707

156
rbs_mill_assist/world/default.sdf
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@ -37,7 +37,7 @@
name="gz::sim::systems::SceneBroadcaster"> name="gz::sim::systems::SceneBroadcaster">
</plugin> </plugin>
<plugin filename="gz-sim-contact-system" <plugin filename="gz-sim-contact-system"
name="gz::sim::systems::Contact"> name="gz::sim::systems::Contact">
</plugin> </plugin>
<light type="directional" name="sun"> <light type="directional" name="sun">
@ -53,30 +53,30 @@
</attenuation> </attenuation>
<direction>-0.5 0.1 -0.9</direction> <direction>-0.5 0.1 -0.9</direction>
</light> </light>
<include> <include>
<name>shildik_0</name> <name>shildik_0</name>
<pose>-0.5 -0.2 0.0 0 0 1.57</pose> <pose>-0.5 -0.2 0.02 0 0 1.57</pose>
<uri>model://shildik</uri> <uri>model://shildik</uri>
</include> </include>
<include> <include>
<name>shildik_1</name> <name>shildik_1</name>
<pose>-0.5 -0.2 0.0 0 0 1.57</pose> <pose>-0.5 -0.2 0.04 0 0 1.57</pose>
<uri>model://shildik</uri> <uri>model://shildik</uri>
</include> </include>
<include> <include>
<name>shildik_2</name> <name>shildik_2</name>
<pose>-0.5 -0.2 0.0 0 0 1.57</pose> <pose>-0.5 -0.2 0.05 0 0 1.57</pose>
<uri>model://shildik</uri> <uri>model://shildik</uri>
</include> </include>
<include> <include>
<name>shildik_3</name> <name>shildik_3</name>
<pose>-0.5 -0.2 0.0 0 0 1.57</pose> <pose>-0.5 -0.2 0.06 0 0 1.57</pose>
<uri>model://shildik</uri> <uri>model://shildik</uri>
</include> </include>
<include> <include>
<name>shildik_4</name> <name>shildik_4</name>
<pose>-0.5 -0.2 0.0 0 0 1.57</pose> <pose>-0.5 -0.2 0.07 0 0 1.57</pose>
<uri>model://shildik</uri> <uri>model://shildik</uri>
</include> </include>
@ -86,67 +86,67 @@
<uri>model://laser</uri> <uri>model://laser</uri>
</include> </include>
<!-- <include> --> <include>
<!-- <static>true</static> --> <static>true</static>
<!-- <pose>0.0 -0.3 0.0752 1.57 0 3.14159</pose> --> <pose>-0.505 -0.20 0.06 0.0 0.0 1.57</pose>
<!-- <uri>model://bunker</uri> --> <uri>model://bunker</uri>
<!-- </include> --> </include>
<model name="rgbd_camera"> <model name="rgbd_camera">
<pose>0 -0.93 0.42 0 0.4 1.81</pose> <pose>0 -0.93 0.42 0 0.4 1.81</pose>
<static>1</static> <static>1</static>
<link name="rgbd_camera"> <link name="rgbd_camera">
<!-- Visual --> <!-- Visual -->
<visual name="visual"> <visual name="visual">
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
<geometry> <geometry>
<box> <box>
<size>0.01 0.01 0.01</size> <size>0.01 0.01 0.01</size>
</box> </box>
</geometry> </geometry>
<material> <material>
<ambient>0 0 0 1</ambient> <ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse> <diffuse>0 0 0 1</diffuse>
<specular>0 0 0 1</specular> <specular>0 0 0 1</specular>
</material> </material>
</visual> </visual>
<!-- Collision --> <!-- Collision -->
<collision name="collision"> <collision name="collision">
<pose>0 0 0 0 0 0</pose> <pose>0 0 0 0 0 0</pose>
<geometry> <geometry>
<box> <box>
<size>0.01 0.01 0.01</size> <size>0.01 0.01 0.01</size>
</box> </box>
</geometry> </geometry>
</collision> </collision>
<!-- RGBD Sensor --> <!-- RGBD Sensor -->
<sensor name="rgbd_camera" type="rgbd_camera"> <sensor name="rgbd_camera" type="rgbd_camera">
<camera> <camera>
<horizontal_fov>1.047</horizontal_fov> <horizontal_fov>1.047</horizontal_fov>
<image> <image>
<width>1920</width> <width>1920</width>
<height>1080</height> <height>1080</height>
<format>R8G8B8</format> <format>R8G8B8</format>
</image> </image>
<clip> <clip>
<near>0.1</near> <near>0.1</near>
<far>3</far> <far>3</far>
</clip> </clip>
<depth_camera> <depth_camera>
<output>depth</output> <output>depth</output>
</depth_camera> </depth_camera>
</camera> </camera>
<always_on>1</always_on> <always_on>1</always_on>
<update_rate>30</update_rate> <update_rate>30</update_rate>
<visualize>true</visualize> <visualize>true</visualize>
<topic>/rgbd_camera/image</topic> <topic>/rgbd_camera/image</topic>
<enable_metrics>true</enable_metrics> <enable_metrics>true</enable_metrics>
</sensor> </sensor>
</link> </link>
</model> </model>
<model name="table"> <model name="table">
@ -174,10 +174,20 @@
</geometry> </geometry>
<surface> <surface>
<friction> <friction>
<ode/> <ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction> </friction>
<bounce/> <bounce />
<contact/> <contact>
<ode>
<soft_cfm>0.00001</soft_cfm>
<soft_erp>0.8</soft_erp>
<kp>1e5</kp>
<kd>1e3</kd>
</ode>
</contact>
</surface> </surface>
</collision> </collision>
<visual name='table_link_visual'> <visual name='table_link_visual'>
@ -187,17 +197,17 @@
<size>1.2 0.69999999999999996 0.80000000000000004</size> <size>1.2 0.69999999999999996 0.80000000000000004</size>
</box> </box>
</geometry> </geometry>
<material> <material>
<diffuse>0 0 1 1</diffuse> <diffuse>0.6 0.4 0.2 1</diffuse>
<ambient>0 0 1 1</ambient> <ambient>0.6 0.4 0.2 1</ambient>
</material> <specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual> </visual>
<enable_wind>false</enable_wind> <enable_wind>false</enable_wind>
</link> </link>
</model> </model>
</world> </world>
</sdf> </sdf>