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Feature/updated configs and lab setup #25

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e6aa63a
mount assets server only
Aetherbase Feb 21, 2025
0702cef
Merge pull request #22 from ras-ros2/main
Aetherbase Feb 24, 2025
0effd69
added new lab_setup yaml and robot dir
jayanth100798 Mar 25, 2025
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102 changes: 102 additions & 0 deletions configs/experiments/5.yaml
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Poses:
out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}

Grids:
grid0:
pose: {x: 0.0, y: 0.0, z: 0.165, roll: 3.14, pitch: 0, yaw: 0}
locations:
x1y1: {x: -0.08, y: 0.08}
x1y2: {x: -0.08, y: 0.0}
x1y3: {x: -0.08, y: -0.08}
x2y1: {x: 0.0, y: 0.08}
x2y2: {x: 0.0, y: 0.0}
x2y3: {x: 0.0, y: -0.08}
x3y1: {x: 0.08, y: 0.08}
x3y2: {x: 0.08, y: 0.0}
x3y3: {x: 0.08, y: -0.08}

targets:
- move2pose: out1
- pick_location:
object: wooden_cube1
grid: grid0
location: x1y1
- place_location:
object: wooden_cube1
grid: grid0
location: x3y3
level: 0
- pick_location:
object: wooden_cube2
grid: grid0
location: x1y2
- place_location:
object: wooden_cube2
grid: grid0
location: x3y3
level: 1
- pick_location:
object: wooden_cube3
grid: grid0
location: x1y3
- place_location:
object: wooden_cube3
grid: grid0
location: x3y3
level: 2
- pick_location:
object: wooden_cube4
grid: grid0
location: x2y1
- place_location:
object: wooden_cube4
grid: grid0
location: x3y3
level: 3
- pick_location:
object: wooden_cube5
grid: grid0
location: x2y2
- place_location:
object: wooden_cube5
grid: grid0
location: x3y3
level: 4
- pick_location:
object: wooden_cube6
grid: grid0
location: x2y3
- place_location:
object: wooden_cube6
grid: grid0
location: x3y3
level: 5
- pick_location:
object: wooden_cube7
grid: grid0
location: x3y1
- place_location:
object: wooden_cube7
grid: grid0
location: x3y3
level: 6
- pick_location:
object: wooden_cube8
grid: grid0
location: x3y2
- place_location:
object: wooden_cube8
grid: grid0
location: x3y3
level: 7
- pick_location:
object: wooden_cube9
grid: grid0
location: x3y3
- place_location:
object: wooden_cube9
grid: grid0
location: x3y3
level: 8
- move2pose: out1

45 changes: 45 additions & 0 deletions configs/experiments/6.yaml
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Poses:
out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}
above1: {x: 0.425, y: 0.010, z: 0.280, roll: 3.14, pitch: 0, yaw: 0}
in1: {x: 0.425, y: 0.010, z: 0.175, roll: 3.14, pitch: 0, yaw: 0}

Grids:
grid0:
pose: {x: 0.425, y: 0.010, z: 0.165, roll: 3.14, pitch: 0, yaw: 0}
locations:
x1y1: {x: 0.0, y: 0.08}
x1y2: {x: 0.0, y: 0.0}
x2y1: {x: -0.08, y: 0.08}
x2y2: {x: -0.08, y: 0.0}
stack: {x: 0.08, y: 0.0} # Reserved for stacking

targets:
- move2pose: out1
- pick_location:
object: wooden_cube1
grid: grid0
location: x1y1
- place_location:
object: wooden_cube1
grid: grid0
location: stack
- pick_location:
object: wooden_cube2
grid: grid0
location: x1y2
- place_location:
object: wooden_cube2
grid: grid0
location: stack
level: 1
- pick_location:
object: wooden_cube3
grid: grid0
location: x2y1
- place_location:
object: wooden_cube3
grid: grid0
location: stack
level: 2
- move2pose: out1

4 changes: 2 additions & 2 deletions configs/experiments/test_multi.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ Grids:
x2y2: {x: -0.08, y: 0.0}
x2y3: {x: -0.08, y: -0.08}

targets:
old_targets:
- move2pose: out1
- pick_location:
object: wooden_cube1
Expand Down Expand Up @@ -75,7 +75,7 @@ targets:
# location: x2y3
- move2pose: out1

old_targets:
targets:
##setup tasks##
# - move2pose: out1
# - gripper: true
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28 changes: 9 additions & 19 deletions configs/lab_setup.yaml
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@@ -1,21 +1,11 @@
lab_setup:
lab_name: "oss_lab1"
# real_sim: "aruco_world" # with perception (significantly slower)
real_sim: "oss_lab1" # without perception
robot:
name: "xarm_lite6"
pose:
x: -1.239280
y: -3.298410
z: 1.120070
roll: 0.0
pitch: 0.0
yaw: -1.57
home_joint_state:
joint1: 0
joint2: 0.17
joint3: 0.56
joint4: 0
joint5: 0.38
joint6: 0
lab_name: "oss_lab1" # Name of the lab environment

# Choose the simulation environment
# "aruco_world" includes perception but is significantly slower
# "oss_lab1" runs without perception for faster performance
real_sim: "oss_lab1"

robot_name: "jay" # Primary robot in the setup
robot_config_file: "robots/{robot_name}.yaml"

25 changes: 25 additions & 0 deletions configs/robots/franka.yaml
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name: "franka" # Robot identifier
pose: # Initial pose of the robot in the environment
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
home_joint_state: # Default joint angles for the home position
joint1: 0.0
joint2: -0.785
joint3: 0.0
joint4: -2.356
joint5: 0.0
joint6: 1.571
joint7: 0.785
constraints: # Motion constraints for the robot
workspace: # Allowable workspace limits in meters
x: [-0.855, 0.855]
y: [-0.855, 0.855]
z: [0.0, 1.2]
orientation: # Allowed orientation range in radians
roll: [-3.14, 3.14]
pitch: [-3.14, 3.14]
yaw: [-3.14, 3.14]
24 changes: 24 additions & 0 deletions configs/robots/xarm_lite6.yaml
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name: "xarm_lite6" # Robot identifier
pose: # Initial pose of the robot in the environment
x: -1.239280
y: -3.298410
z: 1.120070
roll: 0.0
pitch: 0.0
yaw: -1.57
home_joint_state: # Default joint angles for the home position
joint1: 0
joint2: 0.17
joint3: 0.56
joint4: 0
joint5: 0.38
joint6: 0
constraints: # Motion constraints for the robot
workspace: # Allowable workspace limits in meters
x: [-2.0, 2.0]
y: [-4.0, 4.0]
z: [0.0, 2.0]
orientation: # Allowed orientation range in radians
roll: [-3.14, 3.14]
pitch: [-3.14, 3.14]
yaw: [-3.14, 3.14]
4 changes: 2 additions & 2 deletions scripts/ras_docker/app.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,8 @@ def get_app_spacific_docker_cmd(args : argparse.Namespace,docker_cmd_fmt_src,rem
exit(1)
if remove_cn:
extra_docker_args += " --rm "
# if app_conf.app_name == "ras_server_app":
extra_docker_args += f" -v {asset_dir}:/{app_conf.app_name}/ros2_ws/src/assets "
if app_conf.app_name == "ras_server_app":
extra_docker_args += f" -v {asset_dir}:/{app_conf.app_name}/ros2_ws/src/assets "
docker_cmd_fmt_local = partial(docker_cmd_fmt_src,
display_env=f"{get_display_var()}",
app_dir=str(app_path),
Expand Down