cleanup and add defaults for tags 2 & 3

PickNikRobotics · Oct 2, 2023 · 0ef2dc7 · 0ef2dc7
1 parent c372d81
commit 0ef2dc7
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Showing 3 changed files with 18 additions and 2 deletions.
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml
@@ -0,0 +1,8 @@
+GraspOffset:
+  x: -0.1
+  y: 0.0
+  z: 0.05
+  qx: 0.707
+  qy: -0.707
+  qz: 0.0
+  qw: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml
@@ -0,0 +1,8 @@
+GraspOffset:
+  x: -0.1
+  y: 0.0
+  z: 0.05
+  qx: 0.707
+  qy: -0.707
+  qz: 0.0
+  qw: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml b/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml
@@ -3,11 +3,11 @@
     <SubTree ID="Sample April Tag">
         <description>
           <p>
-              Samples the pose of an Apriltag and returns the average measurement.
+              Samples the pose of an AprilTag and returns the average measurement.
           </p>
         </description>
         <input_port name="num_samples" default="1">The number of times to sample the pose.</input_port>
-        <input_port name="tag_id" default="0">The Apriltag ID to detect.</input_port>
+        <input_port name="tag_id" default="0">The AprilTag ID to detect.</input_port>
         <input_port name="apriltag_config" default="apriltag_detection_config.yaml">The configuration file for detecting AprilTags.</input_port>
         <input_port name="max_distance" default="0.02">The maximum distance allow between the average pose and the new sample (Euclidean distance between pose positions).</input_port>
         <input_port name="max_rotation" default="0.2">The maximum angle allow between the average pose and the new sample (shortest angle between two pose quaternions).</input_port>