robocup_knowledge
Variables
challenge_storing_groceries Namespace Reference

Variables

 bookcase_ws
 
string cabinet_amcl = "bookshelf"
 
list cabinet_poses
 
 cabinet_ws
 
 common = knowledge_loader.load_knowledge("common")
 
string default_area = "shelf4"
 
string default_place_area = "shelf3"
 
string default_place_entity = "bookshelf"
 
 entity_id
 
 entity_poses = zip(cabinet_poses, table_poses)
 
 EntityConfiguration = namedtuple("EntityConfiguration", ["entity_id", "pose_estimate", "manipulation_volumes"])
 
 frame
 
 frame_id
 
string grasp_surface = "side_table"
 
string inspect_area = "in_front_of"
 
list manipulation_volumes = ['on_top_of']
 
list object_shelves = ["shelf3", "shelf4", "shelf5"]
 
list object_types = [obj["name"] for obj in common.objects]
 
 place_areas
 
 place_entity_conf
 
 pose_estimate
 
 room = common.get_room(table)
 
string shelf = "closet"
 
string starting_point = 'initial_pose'
 
 storage_shelf_ws
 
string table = "dinner_table"
 
list table_poses
 
 Workspace = namedtuple("Workspace", ["grasp_entity_conf", "place_entity_conf", "room"])
 
 workspaces
 

Variable Documentation

◆ bookcase_ws

challenge_storing_groceries.bookcase_ws
Initial value:
1 = Workspace(grasp_entity_conf=
2  EntityConfiguration(entity_id="cupboard",
3  pose_estimate=FrameStamped(
4  frame=kdl.Frame(kdl.Rotation.RPY(
5  0.0, 0.0,
6  math.pi/2), # right of shelf
7  # -math.pi/2), # left of shelf
8  kdl.Vector(8.5, 1.15, 0.0)), # right of shelf
9  # kdl.Vector(8.5, 3.15, 0.0)), # left of shelf
10  frame_id="map"),

Definition at line 77 of file rgo2018/challenge_storing_groceries.py.

◆ cabinet_amcl

list challenge_storing_groceries.cabinet_amcl = "bookshelf"

Definition at line 15 of file rgo2017/challenge_storing_groceries.py.

◆ cabinet_poses

list challenge_storing_groceries.cabinet_poses
Initial value:
1 = [FrameStamped(frame=kdl.Frame(kdl.Rotation(), kdl.Vector(0.144, 3.574, 0.0)), frame_id="map"),
2  FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, 1.570796), kdl.Vector(2.271, -1.258, 0.0)),
3  frame_id="map")]

Definition at line 16 of file rgo2017/challenge_storing_groceries.py.

◆ cabinet_ws

challenge_storing_groceries.cabinet_ws
Initial value:
1 = Workspace(grasp_entity_conf=
2  EntityConfiguration(entity_id="dining_table",
3  pose_estimate=
4  FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, math.pi),
5  kdl.Vector(2.447, 1.1695, 0.0)),
6  frame_id="map"),
7  manipulation_volumes=['on_top_of']
8  ),
9  place_entity_conf=
10  EntityConfiguration(entity_id="cabinet",
11  pose_estimate=FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, 0),
12  kdl.Vector(0.144, 3.274, 0.0)),
13  frame_id="map"),
14  manipulation_volumes=['shelf2']
15  ),
16  room="dining_room")

Definition at line 41 of file rgo2018/challenge_storing_groceries.py.

◆ common

challenge_storing_groceries.common = knowledge_loader.load_knowledge("common")

Definition at line 5 of file impuls/challenge_storing_groceries.py.

◆ default_area

challenge_storing_groceries.default_area = "shelf4"

Definition at line 12 of file impuls/challenge_storing_groceries.py.

◆ default_place_area

challenge_storing_groceries.default_place_area = "shelf3"

Definition at line 28 of file rgo2017/challenge_storing_groceries.py.

◆ default_place_entity

list challenge_storing_groceries.default_place_entity = "bookshelf"

Definition at line 27 of file rgo2017/challenge_storing_groceries.py.

◆ entity_id

challenge_storing_groceries.entity_id

Definition at line 90 of file rgo2018/challenge_storing_groceries.py.

◆ entity_poses

challenge_storing_groceries.entity_poses = zip(cabinet_poses, table_poses)

Definition at line 35 of file rgo2017/challenge_storing_groceries.py.

◆ EntityConfiguration

challenge_storing_groceries.EntityConfiguration = namedtuple("EntityConfiguration", ["entity_id", "pose_estimate", "manipulation_volumes"])

Definition at line 32 of file rgo2018/challenge_storing_groceries.py.

◆ frame

challenge_storing_groceries.frame

Definition at line 16 of file robotics_testlabs/challenge_storing_groceries.py.

◆ frame_id

challenge_storing_groceries.frame_id

Definition at line 17 of file robotics_testlabs/challenge_storing_groceries.py.

◆ grasp_surface

challenge_storing_groceries.grasp_surface = "side_table"

Definition at line 23 of file rgo2017/challenge_storing_groceries.py.

◆ inspect_area

challenge_storing_groceries.inspect_area = "in_front_of"

Definition at line 13 of file impuls/challenge_storing_groceries.py.

◆ manipulation_volumes

list challenge_storing_groceries.manipulation_volumes = ['on_top_of']

Definition at line 87 of file rgo2018/challenge_storing_groceries.py.

◆ object_shelves

list challenge_storing_groceries.object_shelves = ["shelf3", "shelf4", "shelf5"]

Definition at line 14 of file impuls/challenge_storing_groceries.py.

◆ object_types

list challenge_storing_groceries.object_types = [obj["name"] for obj in common.objects]

Definition at line 15 of file impuls/challenge_storing_groceries.py.

◆ place_areas

challenge_storing_groceries.place_areas

Definition at line 14 of file rwc2023/challenge_storing_groceries.py.

◆ place_entity_conf

challenge_storing_groceries.place_entity_conf

Definition at line 89 of file rgo2018/challenge_storing_groceries.py.

◆ pose_estimate

challenge_storing_groceries.pose_estimate
Initial value:
1 = FrameStamped(
2  frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, math.pi),
3  kdl.Vector(9.7, 2.0, 0.0)),
4  frame_id="map"),

Definition at line 91 of file rgo2018/challenge_storing_groceries.py.

◆ room

string challenge_storing_groceries.room = common.get_room(table)

Definition at line 19 of file impuls/challenge_storing_groceries.py.

◆ shelf

challenge_storing_groceries.shelf = "closet"

Definition at line 11 of file impuls/challenge_storing_groceries.py.

◆ starting_point

challenge_storing_groceries.starting_point = 'initial_pose'

Definition at line 8 of file impuls/challenge_storing_groceries.py.

◆ storage_shelf_ws

challenge_storing_groceries.storage_shelf_ws
Initial value:
1 = Workspace(
2  grasp_entity_conf=
3  EntityConfiguration(entity_id="dining_table",
4  pose_estimate=
5  FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, math.pi),
6  kdl.Vector(2.447, 1.1695, 0.0)),
7  frame_id="map"),
8  manipulation_volumes=['on_top_of']
9  ),
10  place_entity_conf=
11  EntityConfiguration(entity_id="storage_shelf",
12  pose_estimate=
13  FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, math.pi),
14  kdl.Vector(4.8, 2.5, 0.0)),
15  frame_id="map"),
16  manipulation_volumes=['shelf2']
17  ),
18  room="dining_room")

Definition at line 58 of file rgo2018/challenge_storing_groceries.py.

◆ table

challenge_storing_groceries.table = "dinner_table"

Definition at line 18 of file impuls/challenge_storing_groceries.py.

◆ table_poses

challenge_storing_groceries.table_poses
Initial value:
1 = [FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, -0.5 * math.pi), kdl.Vector(1.0, 4.0, 0.0)),
2  frame_id="map"),
3  FrameStamped(frame=kdl.Frame(kdl.Rotation.RPY(0.0, 0.0, math.pi), kdl.Vector(3.0, 0.0, 0.0)),
4  frame_id="map")]

Definition at line 31 of file rgo2017/challenge_storing_groceries.py.

◆ Workspace

challenge_storing_groceries.Workspace = namedtuple("Workspace", ["grasp_entity_conf", "place_entity_conf", "room"])

Definition at line 39 of file rgo2018/challenge_storing_groceries.py.

◆ workspaces

challenge_storing_groceries.workspaces

Definition at line 99 of file rgo2018/challenge_storing_groceries.py.

challenge_storing_groceries.EntityConfiguration
EntityConfiguration
Definition: rgo2018/challenge_storing_groceries.py:32
challenge_storing_groceries.Workspace
Workspace
Definition: rgo2018/challenge_storing_groceries.py:39
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