From e7aa81fed3086a44f01bbf536ad8e082403f18ae Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 11:49:50 +0100
Subject: [PATCH] Minor

---
 cfg/hw/T_base_tag.txt          | 4 ++++
 cfg/{ => hw}/apriltag.yaml     | 0
 cfg/{ => sim}/mustard.yaml     | 0
 launch/apriltag.launch         | 2 +-
 scripts/calibrate_roi.py       | 2 +-
 src/active_grasp/simulation.py | 2 +-
 6 files changed, 7 insertions(+), 3 deletions(-)
 create mode 100644 cfg/hw/T_base_tag.txt
 rename cfg/{ => hw}/apriltag.yaml (100%)
 rename cfg/{ => sim}/mustard.yaml (100%)

diff --git a/cfg/hw/T_base_tag.txt b/cfg/hw/T_base_tag.txt
new file mode 100644
index 0000000..e5055df
--- /dev/null
+++ b/cfg/hw/T_base_tag.txt
@@ -0,0 +1,4 @@
+9.998979853190785860e-01 1.338047579286792167e-02 4.998181909874715480e-03 3.216251487106734364e-01
+-1.341414276126873424e-02 9.998871470166096342e-01 6.764170678302552919e-03 -1.756941528330971392e-01
+-4.907110028114804005e-03 -6.830526959274958038e-03 9.999646314608484632e-01 -3.868988796629513338e-02
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00
diff --git a/cfg/apriltag.yaml b/cfg/hw/apriltag.yaml
similarity index 100%
rename from cfg/apriltag.yaml
rename to cfg/hw/apriltag.yaml
diff --git a/cfg/mustard.yaml b/cfg/sim/mustard.yaml
similarity index 100%
rename from cfg/mustard.yaml
rename to cfg/sim/mustard.yaml
diff --git a/launch/apriltag.launch b/launch/apriltag.launch
index 3953d7d..551f8eb 100644
--- a/launch/apriltag.launch
+++ b/launch/apriltag.launch
@@ -11,7 +11,7 @@
 
   <!-- AprilTag -->
   <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
-    <rosparam command="load" file="$(find active_grasp)/cfg/apriltag.yaml" />
+    <rosparam command="load" file="$(find active_grasp)/cfg/hw/apriltag.yaml" />
     <remap from="image_rect" to="/camera/infra1/image_rect_raw" />
     <remap from="camera_info" to="/camera/infra1/camera_info" />
     <param name="camera_frame" type="str" value="camera_depth_optical_frame" />
diff --git a/scripts/calibrate_roi.py b/scripts/calibrate_roi.py
index a9d041f..ef9991a 100644
--- a/scripts/calibrate_roi.py
+++ b/scripts/calibrate_roi.py
@@ -8,7 +8,7 @@ def main():
     rospy.init_node("calibrate_roi")
     tf.init()
     T_base_roi = tf.lookup("panda_link0", "tag_0")
-    np.savetxt("cfg/T_base_tag.txt", T_base_roi.as_matrix())
+    np.savetxt("cfg/hw/T_base_tag.txt", T_base_roi.as_matrix())
 
 
 if __name__ == "__main__":
diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py
index 44b5d00..fad78dc 100644
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -158,7 +158,7 @@ class Scene:
 class YamlScene(Scene):
     def __init__(self, config_name):
         super().__init__()
-        self.config_path = pkg_root / "cfg" / config_name
+        self.config_path = pkg_root / "cfg/sim" / config_name
 
     def load_config(self):
         self.scene = load_cfg(self.config_path)