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Real world ball and cup environment (#139)
* initial simple env * initial working version * debugging cup detection * fixes issue with drafting table location and gets planning theory to go thru! * some progress * making slow progress on cup demo * progress! * try this * yapf and some other fixes * unnecessary changes * revert unnecessary changes * comment out plotting robot code * yeetus! * probably good to go? * checks --------- Co-authored-by: NishanthJKumar <njk@mit.edu>
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predicators/spot_utils/graph_nav_maps/floor8-cup-table/metadata.yaml
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# Additional info associated with the map. | ||
--- | ||
spot-home-pose: | ||
x: 1.4 | ||
y: 0.5 | ||
angle: 0.0 | ||
# The info below is used to transform april tag x, y, z detections into object | ||
# x, y, z. For example, if a tag is hanging off the side of a table, we would | ||
# want to use the center of the table as the origin of the table object. | ||
april-tag-offsets: | ||
tag-408: # smooth table | ||
x: 0.25 | ||
y: 0.1 | ||
z: -0.2 | ||
tag-409: # sticky table | ||
x: 0.25 | ||
y: -0.1 | ||
z: -0.2 | ||
# Known immovable objects. Assuming default rotations. | ||
known-immovable-objects: | ||
floor: | ||
x: 0.0 | ||
y: 0.0 | ||
z: -0.5 | ||
white-table: | ||
x: 3.2 | ||
y: 0.5 | ||
z: -0.1 | ||
drafting_table: | ||
x: 2.315 | ||
y: 1.855 | ||
z: -0.05 | ||
# Static object features, including the shapes and sizes of known objects. | ||
static-object-features: | ||
smooth_table: | ||
shape: 2 # cylinder | ||
height: 0.52 | ||
length: 0.51 | ||
width: 0.51 | ||
drafting_table: | ||
shape: 1 # cuboid | ||
height: 0.65 | ||
length: 1.3 # 0.6 | ||
width: 1.3 # 0.4 | ||
cube: | ||
shape: 1 # cuboid | ||
height: 0.083 | ||
length: 0.083 | ||
width: 0.083 | ||
plunger: | ||
shape: 1 # cuboid | ||
height: 0.1 | ||
length: 0.1 | ||
width: 0.1 | ||
soda_can: | ||
shape: 2 | ||
height: 0.114 | ||
length: 0.065 | ||
width: 0.065 | ||
floor: | ||
shape: 1 | ||
height: 0.0001 | ||
length: 10000000 # effectively infinite | ||
width: 10000000 | ||
white-table: | ||
shape: 1 # cuboid | ||
height: 0.74 | ||
length: 1.07 | ||
width: 0.51 | ||
bucket: | ||
shape: 2 # cylinder | ||
height: 0.4 | ||
width: 0.23 | ||
length: 0.23 | ||
chair: | ||
shape: 2 # cylinder | ||
height: 0.8 | ||
length: 0.5 | ||
width: 0.5 | ||
cup: | ||
shape: 2 # cylinder | ||
height: 0.1 | ||
length: 0.15 | ||
width: 0.15 | ||
ball: | ||
shape: 2 # cylinder | ||
height: 0.06 | ||
length: 0.06 | ||
width: 0.06 | ||
|
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