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runtime/env_manager/rbs_runtime/config/default-scene-config.yaml

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refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
camera:
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- clip_color: !tuple
- 0.01
- 1000.0
clip_depth: !tuple
- 0.05
- 10.0
enable: true
height: 128
horizontal_fov: 1.0471975511965976
image_format: R8G8B8
name: robot_camera
noise_mean: null
noise_stddev: null
publish_color: true
publish_depth: true
publish_points: true
random_pose_focal_point_z_offset: 0.0
random_pose_mode: orbit
random_pose_orbit_distance: 1.0
random_pose_orbit_height_range: !tuple
- 0.1
- 0.7
random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
random_pose_rollout_counter: 0.0
random_pose_rollouts_num: 1
random_pose_select_position_options: []
relative_to: base_link
spawn_position: !tuple
- 0.0
- 0.0
- 1.0
spawn_quat_xyzw: !tuple
- 0.0
- 0.70710678118
- 0.0
- 0.70710678118
type: rgbd_camera
update_rate: 10
vertical_fov: 1.0471975511965976
width: 128
gravity: !tuple
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
- 0.0
- 0.0
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- -9.80665
gravity_std: !tuple
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
- 0.0
- 0.0
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0.0232
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
light:
color: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 1.0
- 1.0
- 1.0
- 1.0
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
direction: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0.5
- -0.25
- -0.75
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
distance: 1000.0
model_rollouts_num: 1
radius: 25.0
random_minmax_elevation: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- -0.15
- -0.65
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
type: sun
visual: true
objects:
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- color: null
name: bishop
orientation: !tuple
- 1.0
- 0.0
- 0.0
- 0.0
position: !tuple
- 0.0
- 1.0
- 0.3
randomize:
count: 0
models_rollouts_num: 0
random_color: false
random_model: false
random_orientation: false
random_pose: false
random_position: false
random_spawn_position_segments: []
random_spawn_position_update_workspace_centre: false
random_spawn_volume: !tuple
- 0.5
- 0.5
- 0.5
relative_to: world
static: false
texture: []
type: "model"
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
physics_rollouts_num: 0
plugins:
fts_broadcaster: false
scene_broadcaster: false
sensors_render_engine: ogre2
user_commands: false
robot:
gripper_joint_positions: 0.0
joint_positions:
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 1.57
- 0.5
- 3.14159
- 1.5
- 0.0
- 1.4
- 0.0
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
name: rbs_arm
randomizer:
joint_positions: false
joint_positions_above_object_spawn: false
joint_positions_above_object_spawn_elevation: 0.2
joint_positions_above_object_spawn_xy_randomness: 0.2
joint_positions_std: 0.1
pose: false
spawn_volume: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 1.0
- 1.0
- 0.0
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
spawn_position: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0.0
- 0.0
- 0.0
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
spawn_quat_xyzw: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0.0
- 0.0
- 0.0
- 1.0
urdf_string: ""
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
with_gripper: true
terrain:
model_rollouts_num: 1
name: ground
size: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 1.5
- 1.5
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
spawn_position: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0
- 0
- 0
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
spawn_quat_xyzw: !tuple
refactor(rbs_skill_servers): update action configuration, dependencies, and skills - Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
- 0
- 0
- 0
- 1
refactor: (env_manager, rbs_runtime) and add YAML config loading - Updated `camera.py` to use consistent float literals for default spawn positions. - Removed unused import statements and organized imports in `robot.py` and `scene.py`. - Removed debugging import from `scene.py` to clean up codebase. - Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings. - Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files. - Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup. - Updated `setup.py` to include `config` directory in package data. - Changed `rbs_robot.launch.py` to use position control strategy by default. - Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
2024-10-14 14:21:30 +03:00
type: flat
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