From e9dd60a91e3333bd16bfaed2489c903b0f48d5d9 Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Wed, 10 Jan 2024 15:01:37 -0800 Subject: [PATCH] Add a workspace wall on the right (#152) Added a workspace wall on the right --- ada_feeding/config/ada_planning_scene.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ada_feeding/config/ada_planning_scene.yaml b/ada_feeding/config/ada_planning_scene.yaml index 91ba5099..3cbe5c64 100644 --- a/ada_feeding/config/ada_planning_scene.yaml +++ b/ada_feeding/config/ada_planning_scene.yaml @@ -8,6 +8,7 @@ ada_planning_scene: - head - workspace_wall_front - workspace_wall_left + - workspace_wall_right - workspace_wall_top # - food # For each object, specify: @@ -59,6 +60,12 @@ ada_planning_scene: position: [0.75, 0.17, 0.275] quat_xyzw: [0.0, 0.0, 0.0, 1.0] frame_id: root # the frame_id that the pose is relative to + workspace_wall_right: + primitive_type: 1 # Box=1. See shape_msgs/SolidPrimitive.msg + primitive_dims: [0.01, 1.5, 1.65] # Box has 3 dims: [x, y, z] + position: [-0.3, 0.17, 0.275] + quat_xyzw: [0.0, 0.0, 0.0, 1.0] + frame_id: root # the frame_id that the pose is relative to workspace_wall_top: primitive_type: 1 # Box=1. See shape_msgs/SolidPrimitive.msg primitive_dims: [1.59, 1.5, 0.01] # Box has 3 dims: [x, y, z]