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Add default identity transform
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Afonso-2403 committed Aug 9, 2023
1 parent 51ad3d8 commit 26f8343
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Showing 2 changed files with 190 additions and 79 deletions.
158 changes: 79 additions & 79 deletions src/isar_exr/config/maps/exr_default.json
Original file line number Diff line number Diff line change
@@ -1,41 +1,41 @@
{
"name": "klab_vgii",
"name": "simulator",
"map_from": {
"name": "exr_default_robot",
"reference_positions": {
"positions": [
{
"x": -4.45,
"y": 0.66,
"z": -0.02,
"frame": {
"name": "robot"
}
},
{
"x": -6.64,
"y": 9.88,
"z": 0.87,
"frame": {
"name": "robot"
}
},
{
"x": 1.97,
"y": -0.89,
"z": 0.03,
"frame": {
"name": "robot"
}
},
{
"x": -9.58,
"y": -1.75,
"z": -0.18,
"frame": {
"name": "robot"
{
"x": 0,
"y": 0,
"z": 0,
"frame": {
"name": "robot"
}
},
{
"x": 1,
"y": 1,
"z": 1,
"frame": {
"name": "robot"
}
},
{
"x": 2,
"y": 2,
"z": 2,
"frame": {
"name": "robot"
}
},
{
"x": 3,
"y": 3,
"z": 3,
"frame": {
"name": "robot"
}
}
}
],
"frame": {
"name": "robot"
Expand All @@ -49,38 +49,38 @@
"name": "exr_default_asset",
"reference_positions": {
"positions": [
{
"x": 20255.5,
"y": 5307.93,
"z": 14.661,
"frame": {
"name": "asset"
{
"x": 0,
"y": 0,
"z": 0,
"frame": {
"name": "asset"
}
},
{
"x": 1,
"y": 1,
"z": 1,
"frame": {
"name": "asset"
}
},
{
"x": 2,
"y": 2,
"z": 2,
"frame": {
"name": "asset"
}
},
{
"x": 3,
"y": 3,
"z": 3,
"frame": {
"name": "asset"
}
}
},
{
"x": 20264.7,
"y": 5310.26,
"z": 15.551,
"frame": {
"name": "asset"
}
},
{
"x": 20254.1,
"y": 5301.48,
"z": 14.651,
"frame": {
"name": "asset"
}
},
{
"x": 20253.0,
"y": 5313.02,
"z": 14.501,
"frame": {
"name": "asset"
}
}
],
"frame": {
"name": "asset"
Expand All @@ -89,23 +89,23 @@
"frame": {
"name": "asset"
},
"bounds": {
"position1": {
"x": 0,
"y": 0,
"z": 0,
"frame": {
"name": "asset"
}
},
"position2": {
"x": 99999,
"y": 99999,
"z": 99999,
"frame": {
"name": "asset"
"bounds": {
"position1": {
"x": 0,
"y": 0,
"z": 0,
"frame": {
"name": "asset"
}
},
"position2": {
"x": 99999,
"y": 99999,
"z": 99999,
"frame": {
"name": "asset"
}
}
}
}
}
}
111 changes: 111 additions & 0 deletions src/isar_exr/config/maps/klab_vgii.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,111 @@
{
"name": "klab_vgii",
"map_from": {
"name": "exr_default_robot",
"reference_positions": {
"positions": [
{
"x": -4.45,
"y": 0.66,
"z": -0.02,
"frame": {
"name": "robot"
}
},
{
"x": -6.64,
"y": 9.88,
"z": 0.87,
"frame": {
"name": "robot"
}
},
{
"x": 1.97,
"y": -0.89,
"z": 0.03,
"frame": {
"name": "robot"
}
},
{
"x": -9.58,
"y": -1.75,
"z": -0.18,
"frame": {
"name": "robot"
}
}
],
"frame": {
"name": "robot"
}
},
"frame": {
"name": "robot"
}
},
"map_to": {
"name": "exr_default_asset",
"reference_positions": {
"positions": [
{
"x": 20255.5,
"y": 5307.93,
"z": 14.661,
"frame": {
"name": "asset"
}
},
{
"x": 20264.7,
"y": 5310.26,
"z": 15.551,
"frame": {
"name": "asset"
}
},
{
"x": 20254.1,
"y": 5301.48,
"z": 14.651,
"frame": {
"name": "asset"
}
},
{
"x": 20253.0,
"y": 5313.02,
"z": 14.501,
"frame": {
"name": "asset"
}
}
],
"frame": {
"name": "asset"
}
},
"frame": {
"name": "asset"
},
"bounds": {
"position1": {
"x": 0,
"y": 0,
"z": 0,
"frame": {
"name": "asset"
}
},
"position2": {
"x": 99999,
"y": 99999,
"z": 99999,
"frame": {
"name": "asset"
}
}
}
}
}

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