reo2016/challenge_manipulation.py

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from robocup_knowledge import knowledge_loader
common = knowledge_loader.load_knowledge("common")
 
''' Cabinet used for the challenge '''
cabinet = "bookcase"
 
''' Shelves where objects might be '''
object_shelves =["shelf6", "shelf5", "shelf4", "shelf3", "shelf1"]
 
''' Shelf where we will actually try to grasp '''
grasp_shelf = "shelf3"
 
''' Shelf where we will actually place stuff '''
place_shelf = "shelf2"
 
''' Room where everything will take place '''
room = "livingroom"
 
'''Object types that can be recognized'''
object_types = [o["name"] for o in common.objects if o["category"] != "container"]
 
# ToDo: make nice
min_grasp_height = 0.73  # area_bottom_height - 4 cm
max_grasp_height = 1.02  # area_top_height