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wipe_params.yaml
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wipe_params.yaml
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possible_tables: ['oblong_table', 'circular_table', 'square_table']
obstacle_footprint: circle # 'circle' or 'blob'
oblong_table:
xyzq_furniture_center: [1.70269418e+00, -7.05694139e-01, 4.00998950e-01, 7.07106802e-01, 3.63328172e-08, 2.98023195e-08, 7.07106760e-01]
objects: ['conferenceTable_visible0']
wipe_pattern:
long_stroke_with_circles:
path_start: [1.45, -0.05, .780] # (m) position of the dummy 'dummy_path_start'
n_traj: 300
step_size: 0.14
amplitude: 0.5
circle_amplitude_x: 0.2
circle_amplitude_y: 0.5
n_circles_per_pass: 3
n_passes : 2
long_stroke:
path_start: [1.45, -0.63, .780] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
step_size: 0.1
amplitude: 0.6
n_passes : 3
inside_out:
path_start: [1.45, -0.25, .780] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
step_size: 0.16
amplitude: 0.5
n_passes : 5
circular_table:
xyzq_furniture_center: [1.47399771, -0.21799995, 0.31250006, 0.68591453, -0.17181317,-0.68591671, -0.17181317]
objects: ['table_circular']
wipe_pattern:
long_stroke_with_circles:
path_start: [1.45, -0.25, .6520] # (m) position of the dummy 'dummy_path_start'
n_traj: 300
step_size: 0.14
amplitude: 0.5
circle_amplitude_x: 0.2
circle_amplitude_y: 0.5
n_circles_per_pass: 3
n_passes : 2
long_stroke:
path_start: [1.45, -0.5, .6520] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
step_size: 0.05
amplitude: 1
n_passes : 5
inside_out:
path_start: [1.65, -0.25, .6520] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
x_amp: 0.02
y_amp: 0.03
n_passes : 6
square_table:
xyzq_furniture_center: [ 1.45, -0.2500029, 0.64756 , 0.70710674, 0., 0. , -0.70710682]
objects: ['customizableTable', 'customizableTable_foot']
wipe_pattern:
long_stroke_with_circles:
path_start: [1.45, -0.25, .70] # (m) position of the dummy 'dummy_path_start'
n_traj: 300
step_size: 0.14
amplitude: 0.5
circle_amplitude_x: 0.2
circle_amplitude_y: 0.5
n_circles_per_pass: 3
n_passes : 2
long_stroke:
path_start: [1.45, -0.25, .70] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
step_size: 0.1
amplitude: 0.6
n_passes : 3
inside_out:
path_start: [1.6, -0.15, .70] # (m) position of the dummy 'dummy_path_start'
n_traj: 100
x_amp: 0.02
y_amp: 0.03
n_passes : 6
# if wipe_type == 'long_stroke': n_passes = 3
# if wipe_type == 'long_stroke_with_circles': n_passes = 2
# if wipe_type == 'inside_out': n_passes = 5