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yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
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[PickNPlace] 1 update sequence processor #105

Closed yijiangh closed 6 years ago

yijiangh commented 6 years ago

parse input seq json (new format!), sequence, mesh, grasps

yijiangh commented 6 years ago

element number: int, pick_base_center_point: [x,y,z], place_base_center_point: [x,y,z], sequenced_elements: [ {order_id: int pick_element_geo_file_name: X.stl (in the same dir, location+pose determined in Rhino) picknplace_grasp:[grasp1, grasp2, ...] } ]

yijiangh commented 6 years ago

Grasp: (all use default base_link for now) pick_grasp_origin: [x,y,z] pick_grasp_orientation: [x,y,z,w] (quaterion) pick_grasp_approach_origin: [x,y,z] pick_grasp_retreat_origin: [x,y,z]

place_grasp_origin: [x,y,z] place_grasp_orientation: [x,y,z,w] (quaterion) place_grasp_approach_origin: [x,y,z] place_grasp_retreat_origin: [x,y,z]

yijiangh commented 6 years ago

json output ready to go.

yijiangh commented 6 years ago

Might need a complete rewrite of the task_sequence_processor. The current code architecture there is not clean... The dependency between classes is bit messy.