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Add a workspace wall on the right #152

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Jan 10, 2024
Merged

Add a workspace wall on the right #152

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7 changes: 7 additions & 0 deletions ada_feeding/config/ada_planning_scene.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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]
Expand Down