From e055dd0486851fea434291aa022e73efed4842c6 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Tue, 14 Sep 2021 11:20:58 +0200 Subject: [PATCH] Add kitchen scene --- cfg/active_grasp.yaml | 2 +- cfg/scenes/kitchen.yaml | 13 +++++++++++++ cfg/scenes/{test5.yaml => test.yaml} | 0 cfg/scenes/test4.yaml | 7 ------- 4 files changed, 14 insertions(+), 8 deletions(-) create mode 100644 cfg/scenes/kitchen.yaml rename cfg/scenes/{test5.yaml => test.yaml} (100%) delete mode 100644 cfg/scenes/test4.yaml diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml index 993de53..1f51986 100644 --- a/cfg/active_grasp.yaml +++ b/cfg/active_grasp.yaml @@ -1,7 +1,7 @@ bt_sim: gui: False cam_noise: True - scene: test1.yaml + scene: kitchen.yaml grasp_controller: base_frame_id: panda_link0 diff --git a/cfg/scenes/kitchen.yaml b/cfg/scenes/kitchen.yaml new file mode 100644 index 0000000..ad78aa6 --- /dev/null +++ b/cfg/scenes/kitchen.yaml @@ -0,0 +1,13 @@ +center: [0.5, 0.05, 0.35] +q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] +objects: +- object_id: 004_sugar_box + xyz: [-0.12, -0.05, 0.0] + rpy: [0, 0, 30] +- object_id: 010_potted_meat_can + xyz: [-0.1, 0.1, 0.0] + rpy: [0, 0, 75] +- object_id: 024_bowl + xyz: [0.0, 0.0, 0.0] + rpy: [0, 0, 0] + scale: 0.8 diff --git a/cfg/scenes/test5.yaml b/cfg/scenes/test.yaml similarity index 100% rename from cfg/scenes/test5.yaml rename to cfg/scenes/test.yaml diff --git a/cfg/scenes/test4.yaml b/cfg/scenes/test4.yaml deleted file mode 100644 index 225ed13..0000000 --- a/cfg/scenes/test4.yaml +++ /dev/null @@ -1,7 +0,0 @@ -center: [0.45, 0.0, 0.20] -q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] -objects: -- object_id: 019_pitcher_base - xyz: [0, 0.1, 0] - rpy: [0, 0, 30] - scale: 1.0