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data.yaml
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data.yaml
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waypoints:
# To establish correspondence between waypoints and semantic locations in belief,
# please use consistent naming here and in BeliefKeys.msg. BeliefKeys will be
# "ROBOT_AT_" + waypoint.upper() and "TASK_AT_" + waypoint.upper()
# Also, please use location names defined in fetchit rule book.
# Correct names are provided below:
gear_pick_station:
- { x: -0.3, y: -0.4, theta: 0, frame: "schunk_0" }
kit_station:
- { x: 0, y: 0, theta: 0, frame: "kit_pick_1" }
screw_bin_pick_station:
- { x: 0.1, y: 0, theta: 0, frame: "screw_bin_0" }
gearbox_pick_station:
- { x: -0.1, y: -0.1, theta: 0, frame: "gearbox_pick_2"}
schunk_manipulation:
- { x: -0.25, y: -0.35, theta: 0, frame: "schunk_0" }
dropoff:
- { x: 0.1, y: 0, theta: 0, frame: "drop_off_1" }
# The following waypoints can be used for a retreat from one of the above
# stations if the situation calls for it. The format here is "origin_at_" +
# waypoint name. The values for these keys should never need to be edited
origin_for_gear_pick_station:
- { x: 0, y: 0, theta: 0, frame: "map" }
origin_for_kit_station:
- { x: 0, y: 0, theta: 1.57, frame: "map" }
origin_for_screw_bin_pick_station:
- { x: 0, y: 0, theta: 3.14, frame: "map" }
origin_for_gearbox_pick_station:
- { x: 0, y: 0, theta: -1.57, frame: "map" }
origin_for_dropoff:
- { x: 0, y: 0, theta: -1.57, frame: "map" }
origin_for_schunk_manipulation:
- { x: 0, y: 0, theta: 0, frame: "map" }
object_constraints: {}
arm_gripper_poses:
object_look_location:
frame: "base_link"
position: { x: 0.7, y: 0.0, z: 0.7 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
gear_drop:
frame: "base_link"
position: { x: 0.662, y: 0.0, z: 1.0 }
orientation: { x: -0.506, y: 0.515, z: 0.464, w: 0.513 }
kit_on_bin:
frame: "base_link"
position: { x: 0.0, y: -0.13, z: 0.5 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
neighbourhood_octomap_clear_start:
frame: "base_link"
position: { x: 0, y: 1.0, z: 1.0 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
at_table_from_origin:
frame: "base_link"
position: { x: 0.5, y: 0.0, z: 0.83 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
at_the_horizon:
frame: "base_link"
position: { x: 50, y: 0, z: 1.4 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
at_schunk_corner:
frame: "initial_estimate"
position: { x: 0, y: 0, z: 0 }
orientation: { x: 0, y: 0, z: 0, w: 1.0 }
schunk_gear_grasp:
frame: "template_pose"
position: { x: 0.107, y: 0.006, z: 0.002}
orientation: {x: 0.722, y: 0.062, z: -0.688, w: -0.036}
arm_joint_poses:
tuck: [1.32, 1.47, -0.20, 1.65, 0.00, 1.66, 0.00]
ready: [1.55, -0.91, 0.98, -1.18, 0.14, -1.06, 0.0]
verify: [0.58, -0.94, 2.17, -1.34, -2.67, -1.54, -0.05]
# If these values change, make sure to update the trajectories below. MoveIt
# is particularly bad at plans to kit_right_0_place
kit_right_0_place: [1.02,0.82,2.61,-2.24,2.93,-1.21,2.98]
kit_right_1_place: [-1.30,0.01,-2.88,-1.71,-0.05,-0.66,0.37]
kit_drop_start: [-1.30,0.01,-2.88,-1.71,-0.05,-0.66,0.37]
in_hand_localize: [1.13, 0.61, 1.53, -1.10, 0.22, -1.86, -0.66]
above_schunk: [-0.79, -0.94, 0.90, 1.08, -0.48, 1.11, -1.65]
trajectories:
tuck_to_ready:
- [1.32, 1.47, -0.20, 1.65, 0.00, 1.66, 0.00]
- [1.32, 1.47, -1.58, 1.65, 0.00, 1.66, 0.00]
- [1.32, -0.46, -1.58, 1.65, 0.00, 1.66, 0.00]
- [1.32, -0.46, -1.58, 1.65, 0.00, 0.82, 0.00]
- [1.55, -0.91, 0.98, -1.18, 0.14, -1.06, 0.0]
ready_to_tuck:
- [1.55, -0.91, 0.98, -1.18, 0.14, -1.06, 0.0]
- [1.32, -0.46, -1.58, 1.65, 0.00, 0.82, 0.00]
- [1.32, -0.46, -1.58, 1.65, 0.00, 1.66, 0.00]
- [1.32, 1.47, -1.58, 1.65, 0.00, 1.66, 0.00]
- [1.32, 1.47, -0.20, 1.65, 0.00, 1.66, 0.00]
kit_pick_0_to_right_place:
- [1.56,-0.79,1.90,-2.13,2.48,-1.21,2.98]
- [1.56,0.82,1.90,-2.13,2.48,-1.21,2.98]
- [1.02,0.82,1.90,-2.13,2.48,-1.21,2.98]
- [1.02,0.82,2.61,-2.24,2.93,-1.21,2.98]
kit_pick_1_to_right_place:
- [-1.20,-0.83,-2.88,0.70,1.67,-1.44,0.37]
- [-1.30,-0.83,-2.88,-1.71,1.67,-0.66,0.37]
- [-1.30,0.01,-2.88,-1.71,1.67,-0.66,0.37]
- [-1.30,0.01,-2.88,-1.71,-0.05,-0.66,0.37]
parts_at_locations:
gear_pick_station: [SMALL_GEAR, LARGE_GEAR]
screw_bin_pick_station: [BOLT]
gearbox_pick_station: [GEARBOX_TOP, GEARBOX_BOTTOM]