Add kitchen scene

2021-09-14 11:20:58 +02:00 · 2021-09-14 11:20:58 +02:00 · e055dd0486
commit e055dd0486
parent 59ce141072
4 changed files with 14 additions and 8 deletions
--- 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
--- a/cfg/scenes/kitchen.yaml
+++ 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
--- a/cfg/scenes/test5.yaml
+++ b/cfg/scenes/test5.yaml
--- a/cfg/scenes/test4.yaml
+++ b/cfg/scenes/test4.yaml
@ -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