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Sim Environment Cleanup

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- Remove unnecessary sensors
- Add script to run sim without building
- Add script to run sim with full catkin rebuild
- Remove default sensors and arm2 from sim
This commit is contained in:
Sravan Balaji
2020-04-19 19:37:10 -04:00
parent 5fd235d961
commit fcc58797fb
5 changed files with 76 additions and 86 deletions
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52
rrrobot_ws/src/rrrobot/config/rrrobot.yaml
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@@ -79,32 +79,32 @@ random_seed: 1 # Seed for the pseudo random number generat
# - piston_rod_part_57 # The piston rod part in the bins with randomized ID of 57 # - piston_rod_part_57 # The piston rod part in the bins with randomized ID of 57
# - piston_rod_part_45 # - piston_rod_part_45
# Models to be inserted in the bins # # Models to be inserted in the bins
models_over_bins: # models_over_bins:
bin1: # Name of the bin (bin1-bin6, as named in the environment simulation) # bin1: # Name of the bin (bin1-bin6, as named in the environment simulation)
models: # List of models to insert # models: # List of models to insert
# gear_part: # Type of model to insert # gear_part: # Type of model to insert
# xyz_start: [0.1, 0.1, 0] # Origin of the first model to insert # xyz_start: [0.1, 0.1, 0] # Origin of the first model to insert
# xyz_end: [0.5, 0.5, 0] # Origin of the last model to insert # xyz_end: [0.5, 0.5, 0] # Origin of the last model to insert
# rpy: [0, 0, 'pi/4'] # Orientation of all models to insert # rpy: [0, 0, 'pi/4'] # Orientation of all models to insert
# num_models_x: 3 # How many models to insert along the x dimension # num_models_x: 3 # How many models to insert along the x dimension
# num_models_y: 5 # How many models to insert along the y dimension # num_models_y: 5 # How many models to insert along the y dimension
# bin5: # bin5:
# models: # models:
# gasket_part: # gasket_part:
# xyz_start: [0.1, 0.1, 0.0] # xyz_start: [0.1, 0.1, 0.0]
# xyz_end: [0.5, 0.5, 0.0] # xyz_end: [0.5, 0.5, 0.0]
# rpy: [0, 0, 'pi/4'] # rpy: [0, 0, 'pi/4']
# num_models_x: 2 # num_models_x: 2
# num_models_y: 3 # num_models_y: 3
# bin6: # bin6:
# models: # models:
# piston_rod_part: # piston_rod_part:
# xyz_start: [0.1, 0.1, 0.0] # xyz_start: [0.1, 0.1, 0.0]
# xyz_end: [0.5, 0.5, 0.0] # xyz_end: [0.5, 0.5, 0.0]
# rpy: [0, 0, 'pi/4'] # rpy: [0, 0, 'pi/4']
# num_models_x: 3 # num_models_x: 3
# num_models_y: 3 # num_models_y: 3
# # Models to be spawned in particular reference frames # # Models to be spawned in particular reference frames
# models_to_spawn: # models_to_spawn:

31
rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
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@@ -1,36 +1,11 @@
sensors: sensors:
break_beam_1:
type: break_beam
pose:
xyz: [1.6, 2.25, 0.91]
rpy: [0, 0, 'pi']
proximity_sensor_1:
type: proximity_sensor
pose:
xyz: [0.95, 2.6, 0.92]
rpy: [0, 0, 0]
logical_camera_1: logical_camera_1:
type: logical_camera type: logical_camera
pose: pose:
xyz: [-0.3, 0.383, 1.27] xyz: [1.2, 3.5, 1.5]
rpy: [0.2, 1.5707, 0] rpy: [0, 1.5707, 0]
logical_camera_2:
type: logical_camera
pose:
xyz: [0.3, 3.15, 1.5]
rpy: [0, 'pi/2', 0]
logical_camera_3:
type: logical_camera
pose:
xyz: [0.3, -3.15, 1.5]
rpy: [0, 'pi/2', 0]
depth_camera_1: depth_camera_1:
type: depth_camera type: depth_camera
pose: pose:
xyz: [-0.3, -0.383, 1.2] xyz: [1.2, 0.75, 1.5]
rpy: [0, 1.5707, 0] rpy: [0, 1.5707, 0]
laser_profiler_1:
type: laser_profiler
pose:
xyz: [1.21, 4, 1.6]
rpy: ['-pi', 'pi/2', 'pi/2']

9
rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh
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@@ -1,8 +1,15 @@
#!/bin/bash #!/bin/bash
cd /app/rrrobot_ws/
catkin_make clean
catkin_make
catkin_make install
cd /app/rrrobot_ws/src/rrrobot/scripts
sudo cp ../launch/rrrobot.launch /opt/ros/melodic/share/osrf_gear/launch sudo cp ../launch/rrrobot.launch /opt/ros/melodic/share/osrf_gear/launch
sudo cp ../../../world/gear.py /opt/ros/melodic/lib/osrf_gear/gear.py sudo cp ../../../world/gear.py /opt/ros/melodic/lib/osrf_gear/gear.py
sudo cp ../../../world/gear.world.template /opt/ros/melodic/share/osrf_gear/worlds/gear.world.template sudo cp ../../../world/gear.world.template /opt/ros/melodic/share/osrf_gear/worlds/gear.world.template
roslaunch osrf_gear rrrobot.launch roslaunch osrf_gear rrrobot.launch

7
rrrobot_ws/src/rrrobot/scripts/rrrobot_run_no_build.sh Normal file
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@@ -0,0 +1,7 @@
#!/bin/bash
sudo cp ../launch/rrrobot.launch /opt/ros/melodic/share/osrf_gear/launch
sudo cp ../../../world/gear.py /opt/ros/melodic/lib/osrf_gear/gear.py
sudo cp ../../../world/gear.world.template /opt/ros/melodic/share/osrf_gear/worlds/gear.world.template
roslaunch osrf_gear rrrobot.launch

63
rrrobot_ws/world/gear.py
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@@ -57,22 +57,22 @@ arm_configs = {
'wrist_3_joint': 0, 'wrist_3_joint': 0,
} }
}, },
'arm2': { # 'arm2': {
'arm_type': 'ur10', # 'arm_type': 'ur10',
'pose': { # 'pose': {
'xyz': [0.3, -0.92, 0.9], # 'xyz': [0.3, -0.92, 0.9],
'rpy': [0.0, 0.0, 0.0] # 'rpy': [0.0, 0.0, 0.0]
}, # },
'default_initial_joint_states': { # 'default_initial_joint_states': {
'elbow_joint': 2.14, # 'elbow_joint': 2.14,
'linear_arm_actuator_joint': 0, # 'linear_arm_actuator_joint': 0,
'shoulder_lift_joint': -2.0, # 'shoulder_lift_joint': -2.0,
'shoulder_pan_joint': 3.14, # 'shoulder_pan_joint': 3.14,
'wrist_1_joint': 3.27, # 'wrist_1_joint': 3.27,
'wrist_2_joint': -1.51, # 'wrist_2_joint': -1.51,
'wrist_3_joint': 0, # 'wrist_3_joint': 0,
} # }
}, # },
} }
possible_products = [ possible_products = [
'disk_part', 'disk_part',
@@ -91,20 +91,20 @@ sensor_configs = {
'quality_control': None, 'quality_control': None,
} }
default_sensors = { default_sensors = {
'quality_control_sensor_1': { # 'quality_control_sensor_1': {
'type': 'quality_control', # 'type': 'quality_control',
'pose': { # 'pose': {
'xyz': [0.3, 3.5, 1.5], # 'xyz': [0.3, 3.5, 1.5],
'rpy': [0, 1.574, -1.574] # 'rpy': [0, 1.574, -1.574]
} # }
}, # },
'quality_control_sensor_2': { # 'quality_control_sensor_2': {
'type': 'quality_control', # 'type': 'quality_control',
'pose': { # 'pose': {
'xyz': [0.3, -3.5, 1.5], # 'xyz': [0.3, -3.5, 1.5],
'rpy': [0, 1.574, 1.574] # 'rpy': [0, 1.574, 1.574]
} # }
}, # },
} }
default_belt_models = { default_belt_models = {
} }
@@ -530,7 +530,8 @@ def prepare_template_data(config_dict, args):
'faulty_products': {}, 'faulty_products': {},
'drops': {}, 'drops': {},
'orders': {}, 'orders': {},
'options': {'insert_agvs': True}, # 'options': {'insert_agvs': True},
'options': {'insert_agvs': False},
'time_limit': default_time_limit, 'time_limit': default_time_limit,
'bin_height': bin_height, 'bin_height': bin_height,
'world_dir': world_dir, 'world_dir': world_dir,