conveyor_objects.yaml

spawner:
  reference_frame: world            # Gazebo frame in which to spawn the parts
  spawn_period: 20.0                 # [s] Time between component spawnings
  randomization_seed: 0             # Seed for randomization engine
  max_objects: 40                   # Max number of objects to spawn, objects will be recycled after max is reached.
  objects:
    - name: gear                        # Name of the spawned object
      mesh_resource: package://gilbreth_gazebo/meshes/conveyor_objects/gear.stl
      initial_pose:                     # Initial object pose relative to the reference frame
        position: [1.2, 4.0, 1.0]
        orientation: [0.0, 0.0, 0.0]
      lateral_placement_variance: 0.2   # [m] Distance range for objects to be placed transversely on the conveyor
      yaw_placement_variance: 180.0     # [deg] Rotation angle range for objects to be placed on the conveyor
      spawn_timing_variance: 1.0        # [s] Delay

    - name: piston_rod                        # Name of the spawned object
      mesh_resource: package://gilbreth_gazebo/meshes/conveyor_objects/piston_rod.stl
      initial_pose:                     # Initial object pose relative to the reference frame
        position: [1.2, 4.0, 0.93]
        orientation: [0.0, 0.0, 0.0]
      lateral_placement_variance: 0.2   # [m] Distance range for objects to be placed transversely on the conveyor
      yaw_placement_variance: 20.0     # [deg] Rotation angle range for objects to be placed on the conveyor
      spawn_timing_variance: 1.0        # [s] Delay

    - name: pulley                        # Name of the spawned object
      mesh_resource: package://gilbreth_gazebo/meshes/conveyor_objects/pulley.stl
      initial_pose:                     # Initial object pose relative to the reference frame
        position: [1.2, 4.0, 1.0]
        orientation: [0.0, 0.0, 0.0]
      lateral_placement_variance: 0.2   # [m] Distance range for objects to be placed transversely on the conveyor
      yaw_placement_variance: 180.0     # [deg] Rotation angle range for objects to be placed on the conveyor
      spawn_timing_variance: 1.0        # [s] Delay

    - name: gasket                        # Name of the spawned object
      mesh_resource: package://gilbreth_gazebo/meshes/conveyor_objects/gasket.stl
      initial_pose:                     # Initial object pose relative to the reference frame
        position: [1.2, 4.0, 1.0]
        orientation: [0.0, 0.0, 0.0]
      lateral_placement_variance: 0.2   # [m] Distance range for objects to be placed transversely on the conveyor
      yaw_placement_variance: 180.0     # [deg] Rotation angle range for objects to be placed on the conveyor
      spawn_timing_variance: 1.0        # [s] Delay

    - name: disk                        # Name of the spawned object
      mesh_resource: package://gilbreth_gazebo/meshes/conveyor_objects/disk.stl
      initial_pose:                     # Initial object pose relative to the reference frame
        position: [1.2, 4.0, 1.0]
        orientation: [0.0, 0.0, 0.0]
      lateral_placement_variance: 0.2   # [m] Distance range for objects to be placed transversely on the conveyor
      yaw_placement_variance: 180.0     # [deg] Rotation angle range for objects to be placed on the conveyor
      spawn_timing_variance: 1.0        # [s] Delay