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scene_info.yaml
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robot:
model:
file: "talos.dae" # needs to be in camera_faker/models folder, supports standard 3D model file formats
units: "meter" # select scale of model, type a number or choose from "meter", "centimeter", "milimeter", "feet", or "inch"
model_offset: [0.14, -0.03, 0.09, 0, 0, 0] # xyz offset of the model's orgin to center in meters, rpy in degrees (useful for base_link offset)
collision: "talos.urdf" # .urdf file that needs to be in c_simulator/collision_files/robots folder, must include box(es) with <collision> tag
april_tag:
pose:
x: 12.2 # <-- OPTIONAL (default 0.0) x position of tag center in meters relative to pool center
y: 3 # <-- OPTIONAL (default 0.0) y position of tag center in meters relative to pool center
yaw: 215 # <-- OPTIONAL (default 0.0) yaw of tag in degrees
relative_to_tag: false # <-- true = object positions are relative to April Tag cordinate frame
# # <-- false = positions are relative to pool center
# Note: objects do not move
objects:
# Creating new objects
#-------------------------------------------------------------
# If you want the object to be a 2D plane, follow this structure:
#
# object_name:
# pose:
# x: 1.14 <-- OPTIONAL (default 0.0) x position of object center in meters
# y: 2.49 <-- OPTIONAL (default 0.0) y position of object center in meters
# z: -1.3 <-- OPTIONAL (default 0.0) z position of object center in meters
# roll: 0 <-- OPTIONAL (default 0.0) roll of object in degrees
# pitch: 0 <-- OPTIONAL (default 0.0) pitch of object in degrees
# yaw: 260 <-- OPTIONAL (default 0.0) yaw of object in degrees
# image:
# file: "myImage.png" <-- needs to be in camera_faker/textures/objects folder, can be any standard image file type
# size: [width, height] <-- size of image in meters
# collision: "collisionBox.urdf" <-- OPTIONAL (no collision boxes if omitted) .urdf file that needs to be in c_simulator/collision_files/objects folder, must include box(es) with <collision> tag
#
#-------------------------------------------------------------
# If you want the object to be a 3D model, follow this structure:
#
# object_naame:
# pose:
# x: 1.14 <-- OPTIONAL (default 0.0) x position of object center in meters
# y: 2.49 <-- OPTIONAL (default 0.0) y position of object center in meters
# z: -1.3 <-- OPTIONAL (default 0.0) z position of object center in meters
# roll: 0 <-- OPTIONAL (default 0.0) roll of object in degrees
# pitch: 0 <-- OPTIONAL (default 0.0) pitch of object in degrees
# yaw: 260 <-- OPTIONAL (default 0.0) yaw of object in degrees
# model:
# file: "myModel.dae" <-- needs to be in camera_faker/models folder, supports standard 3D model file formats
# units: "meter" <-- select scale of model, type a number or choose from "meter", "centimeter", "milimeter", "feet", or "inch"
# model_offset: [x, y, z, roll, pitch, yaw] <-- xyz offset of the model's orgin to center in meters, rpy in degrees
# color: [R, G, B] <-- OPTIONAL (uses model color if omitted) between 0.0 - 1.0 for each channel, override the color of the model
# collision: "objectCollisionBox.urdf" <-- OPTIONAL (no collision boxes if omitted) .urdf file that needs to be in c_simulator/collision_files/objects folder, must include box(es) with <collision> tag
bouy:
pose:
x: 4
y: -3.25
z: -1.3
yaw: -45
image:
file: "buoys.png"
size: [1.2, 1.2]
collision: "buoy.urdf"
gate:
pose:
x: 3.89
y: 6.49
z: -1.5
yaw: 260.0
image:
file: "gate.png"
size: [3.048,1.524]
collision: "gate.urdf"
torpedo:
pose:
x: 4.0
y: 3.0
z: -1.0
yaw: 180.0
image:
file: "torpedoes.png"
size: [1.2,1.2]
collision: "torpedo.urdf"
path:
pose:
x: 2
y: -2
z: -2.1
yaw: 0
model:
file: "path.fbx"
model_offset: [0,0,0,0,0,0]
units: "meter"
path:
pose:
x: 3
y: -1
z: -2.1
yaw: 45
model:
file: "path.fbx"
model_offset: [0,0,0,0,0,0]
units: "meter"
buoy:
pose:
x: 5
y: -1
z: -0.3
model:
file: "buoy.dae"
units: "ft"
model_offset: [0,0,0,0,0,0]