aruco_perception/config/table_setup.yml at main · secorolab/aruco_perception · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
sensors:
  robot_table_camera:
    image_topic: /cameras/robot_table_camera/color/image_raw
    camera_info_topic: /cameras/robot_table_camera/color/camera_info
    camera_link_frame: robot_table_camera_link
    anchor_frame: table_anchor
  rk_table_camera:
    image_topic: /cameras/rk_table_camera/color/image_raw
    camera_info_topic: /cameras/rk_table_camera/color/camera_info
    camera_link_frame: rk_table_camera_link
    anchor_frame: rk_anchor
  arm_camera:
    ip: 192.168.1.12
    image_topic: /camera/color/image_raw
    camera_info_topic: /camera/color/camera_info

model:
  path_type: ros
  package: bdd_collab_bhv_cpp
  path: models/collab/collab.scenex

frames:
  - frame: table_anchor
    iri: collab-scn:collab-kgraph/robot-table-body/table_anchor
    marker:
      marker_size: 0.1
      marker_id: 0
  - frame: rk_anchor
    iri: collab-scn:collab-kgraph/rk-table-body/rk_anchor
    marker:
      marker_size: 0.1
      marker_id: 10
  - frame: robot_table_top
    iri: collab-scn:collab-kgraph/robot-table-body/table_top
  - frame: base_link
    iri: collab-scn:collab-kgraph/robot-table-body/arm-mount
  - frame: rk_table_top
    iri: collab-scn:collab-kgraph/rk-table-body/work_surface
  - frame: drawer_handle
    iri: collab-scn:collab-kgraph/drawer-body/drawer-handle
    upright: rk_anchor
    fixed:
      - wrt: marker_handle
        x: 0.0575
        y: 0.0
        z: 0.02
        roll: -1.5708
        pitch: 0.0
        yaw: 0.0
      - wrt: marker_back
        x: 0.0
        y: 0.0
        z: -0.22
        roll: 1.5708
        pitch: 0.0
        yaw: -3.14159
  - frame: marker_handle
    marker:
      marker_size: 0.08
      marker_id: 1
  - frame: marker_back
    marker:
      marker_size: 0.05
      marker_id: 2

ref_frame: base_link

objects:
  - name: robot_table_obj
    frame: robot_table_top
    iri: collab-scn:robot-ws
  - name: drawer_handle_obj
    frame: drawer_handle
    iri: collab-scn:collab-kgraph/drawer-body/drawer-handle
  - name: drawer_obj
    frame: drawer_handle
    iri: collab-scn:drawer
  - name: rk_table_obj
    frame: rk_table_top
    iri: collab-scn:wall-ws