red wrote: - The rotation of the parts in the "relative_puzzle_part_target_poses"
We would like to keep this parameter variable as it is important for general assembly scenarios. Nevertheless you can assume that these will only be rotations in the plane of 90 [deg] steps.
red wrote: - The rotation of all objects (public_description)
If you mean the rotation of the object shapes/boxes, you can safely assume that these will be zero.
red wrote: - The position of the first box of all parts (public_description)
You can safely assume that the origin of the first box will be in the origin of the part.
The example below is for clarification. All fields denoted by X can change in the final task.
- Code: Select all
objects:
part1:
color: X
shape:
- pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
size: [X, X, X]
type: box
- pose: [X, X, X, 0.0, 0.0, 0.0]
size: [X, X, X]
type: box
- ...
...
relative_puzzle_part_target_poses:
part1: [X, X, X, X, X, X]
...