Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[Garden] Port scan, dock, deliver - Part 3 #542

Merged
merged 21 commits into from
Nov 23, 2022
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
252 changes: 162 additions & 90 deletions vrx_gz/models/dock_2022/model.sdf
Original file line number Diff line number Diff line change
Expand Up @@ -78,35 +78,6 @@
<transparency>1</transparency>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_1">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_1">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
Expand Down Expand Up @@ -186,35 +157,6 @@
<transparency>1</transparency>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_2">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_2">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
Expand Down Expand Up @@ -294,35 +236,6 @@
<transparency>1</transparency>
</visual>

<!-- Uncomment to see the activation areas -->
<!-- <visual name="visual_activation_big_box_3">
<pose>0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_3">
<pose>-0.6 -0.27 1.33 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual> -->

</link>

<joint name="placard_to_visual" type="fixed">
Expand All @@ -335,8 +248,8 @@

<!-- Uncomment to see the activation areas of the PerformerDectorPlugins
Make sure that the size and location are consistent with plugin -->
<!-- <link name="bay1_visualization">
<visual name="bay1_box">
<!-- <link name="bay1_visualization"> -->
<!-- <visual name="bay1_box">
<pose>1.5 3 0.25 0 0 1.5707963267948966</pose>
<material>
<ambient>0 1 0</ambient>
Expand Down Expand Up @@ -421,9 +334,95 @@
<size>5.5 1.5 2</size>
</box>
</geometry>
</visual> -->

<!-- Uncomment to see the activation areas of the projectile targets -->
<!-- <visual name="visual_activation_big_box_1">
<pose>5.95 3.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_1">
<pose>5.95 2.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_big_box_2">
<pose>5.95 9.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_2">
<pose>5.95 8.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link> -->

<visual name="visual_activation_big_box_3">
<pose>5.95 15.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>

<visual name="visual_activation_small_box_3">
<pose>5.95 14.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
<material>
<ambient>0 1 0</ambient>
<diffuse>0 1 0</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual> -->
<!-- </link> -->

<!-- Plugins to detect if vehicle is in the different dock regions -->
<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
Expand Down Expand Up @@ -495,6 +494,79 @@
</box>
</geometry>
</plugin>

<!-- Plugins to detect if the projectile entered the hole -->
<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>/vrx/dock_2022_placard1_big_hole/contain</topic>
<pose>5.95 2.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</plugin>

<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>vrx/dock_2022_placard1_small_hole/contain</topic>
<pose>5.95 2.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
</plugin>

<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>/vrx/dock_2022_placard2_big_hole/contain</topic>
<pose>5.95 9.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</plugin>

<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>vrx/dock_2022_placard2_small_hole/contain</topic>
<pose>5.95 8.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
</plugin>

<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>/vrx/dock_2022_placard3_big_hole/contain</topic>
<pose>5.95 15.59 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</plugin>

<plugin
filename="gz-sim-performer-detector-system"
name="gz::sim::systems::PerformerDetector">
<topic>vrx/dock_2022_placard3_small_hole/contain</topic>
<pose>5.95 14.39 2.83 0 0 1.5707963267948966</pose>
<geometry>
<box>
<size>0.25 0.5 0.25</size>
</box>
</geometry>
</plugin>

</model>
</sdf>
Loading