new grasp positions for all objects configured

herambnemlekar · Oct 15, 2021 · 80e0942 · 80e0942
1 parent a3d00cf
commit 80e0942
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Showing 9 changed files with 222 additions and 176 deletions.
diff --git a/demos/airplane_assembly_demo.py b/demos/airplane_assembly_demo.py
diff --git a/src/gui.py b/src/gui.py
@@ -9,7 +9,7 @@ def __init__(self):
 
         # window title and size
         self.setWindowTitle("Robot Commander")
-        self.setGeometry(250, 250, 500, 600)
+        self.setGeometry(0, 0, 1280, 720)
 
         # prompt
         self.query = QLabel(self)
@@ -35,7 +35,9 @@ def set_options(self, options, suggestions=[]):
             buttons[-1].setCheckable(True)
             # buttons[-1].clicked.connect(self.set_choice)
             if opt in suggestions:
-                buttons[-1].setStyleSheet("background-color : yellow")
+                buttons[-1].setStyleSheet("QPushButton {background-color : lightgreen;} QPushButton::checked {background-color : lightpink;}")
+            else:
+                buttons[-1].setStyleSheet("QPushButton::checked {background-color : lightpink;}")
             option_y += 50    
         self.options = buttons
 
@@ -45,16 +47,17 @@ def set_options(self, options, suggestions=[]):
         self.suggested_button.setText("Perform the SUGGESTED actions")
         self.suggested_button.setFont(QFont('Arial', 12))
         self.suggested_button.setGeometry(option_x, option_y, 275, 50)
-        self.suggested_button.setStyleSheet("background-color : yellow")
+        self.suggested_button.setStyleSheet("background-color : lightgreen")
         self.suggested_button.setCheckable(True)
         self.suggested_button.clicked.connect(self.set_choice)
 
         option_x = 100
-        option_y += 50
+        option_y += 75
         self.selected_button = QPushButton(self)
         self.selected_button.setText("Perform the SELECTED actions")
         self.selected_button.setFont(QFont('Arial', 12))
         self.selected_button.setGeometry(option_x, option_y, 275, 50)
+        self.selected_button.setStyleSheet("background-color : lightpink")
         self.selected_button.setCheckable(True)
         self.selected_button.clicked.connect(self.set_choice)
 

diff --git a/src/task.jpg b/src/task.jpg
diff --git a/urdf_collection/abstract_main_wing.urdf b/urdf_collection/abstract_main_wing.urdf
@@ -8,8 +8,8 @@
     </collision>
     <visual>
       <origin xyz="-0.2375 0 0" />
-      <material name="c">
-        <color rgba="1.0 0 0 1.0" />
+      <material name="sky blue">
+        <color rgba="0. 0.5 1.0 0.75" />
       </material>
       <geometry>
         <box size="0.325 0.30 0.025" />
@@ -24,8 +24,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.05 0" />
-      <material name="c">
-        <color rgba="1.0 0 0 1.0" />
+      <material name="sky blue">
+        <color rgba="0. 0.5 1.0 0.75" />
       </material>
       <geometry>
         <box size="0.15 0.20 0.025" />
@@ -40,8 +40,8 @@
     </collision>
     <visual>
       <origin xyz="0.2375 0 0" />
-      <material name="c">
-        <color rgba="1.0 0 0 1.0" />
+      <material name="sky blue">
+        <color rgba="0. 0.5 1.0 0.75" />
       </material>
       <geometry>
         <box size="0.325 0.30 0.025" />

diff --git a/urdf_collection/abstract_tail_wing.urdf b/urdf_collection/abstract_tail_wing.urdf
@@ -0,0 +1,19 @@
+<robot name="abstract_tail_wing">
+  <link name="abstract_tail_wing">
+    <collision>
+      <origin xyz="0 0 0.0075" />
+      <geometry>
+        <box size="0.55 0.175 0.015" />
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0.0075" />
+      <material name="sky blue">
+        <color rgba="0. 0.55 1.0 1.0" />
+      </material>
+      <geometry>
+        <box size="0.55 0.175 0.015" />
+      </geometry>
+    </visual>
+  </link>
+</robot>
diff --git a/urdf_collection/container_1.urdf b/urdf_collection/container_1.urdf
@@ -8,8 +8,8 @@
     </collision>
     <visual>
       <origin xyz="0 0 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.005 0.05" />
@@ -24,8 +24,8 @@
     </collision>
     <visual>
       <origin xyz="0.035 -0.0375 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.075 0.05" />
@@ -40,8 +40,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.075 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.005 0.05" />
@@ -56,8 +56,8 @@
     </collision>
     <visual>
       <origin xyz="-0.035 -0.0375 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.075 0.05" />
@@ -72,8 +72,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.0375 0.0025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.075 0.005" />

diff --git a/urdf_collection/container_2.urdf b/urdf_collection/container_2.urdf
@@ -8,8 +8,8 @@
     </collision>
     <visual>
       <origin xyz="0 0 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.005 0.05" />
@@ -24,8 +24,8 @@
     </collision>
     <visual>
       <origin xyz="0.035 -0.1175 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.235 0.05" />
@@ -40,8 +40,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.235 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.005 0.05" />
@@ -56,14 +56,14 @@
     </collision>
     <visual>
       <origin xyz="-0.035 -0.1175 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.235 0.05" />
       </geometry>
     </visual>
-
+    
     <collision>
       <origin xyz="0 -0.1175 0.0025" />
       <geometry>
@@ -72,8 +72,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.1175 0.0025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.075 0.235 0.005" />

diff --git a/urdf_collection/container_3.urdf b/urdf_collection/container_3.urdf
@@ -8,8 +8,8 @@
     </collision>
     <visual>
       <origin xyz="0 0 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.155 0.005 0.05" />
@@ -24,8 +24,8 @@
     </collision>
     <visual>
       <origin xyz="0.075 -0.1175 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.235 0.05" />
@@ -40,8 +40,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.235 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.155 0.005 0.05" />
@@ -56,8 +56,8 @@
     </collision>
     <visual>
       <origin xyz="-0.075 -0.1175 0.025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.005 0.235 0.05" />
@@ -72,8 +72,8 @@
     </collision>
     <visual>
       <origin xyz="0 -0.1175 0.0025" />
-      <material name="c">
-        <color rgba="0 1.0 0 1.0" />
+      <material name="yellow">
+        <color rgba="1.0 0.9 0.0 1.0" />
       </material>
       <geometry>
         <box size="0.155 0.235 0.005" />

diff --git a/urdf_collection/storage.urdf b/urdf_collection/storage.urdf
@@ -8,8 +8,8 @@
     </collision>
     <visual>
       <origin xyz="0.87125 -0.205 0.985" />
-      <material name="c">
-        <color rgba="0 0 1.0 1.0" />
+      <material name="grey">
+        <color rgba="0.7 0.7 0.7 0.9" />
       </material>
       <geometry>
         <box size="0.0875 0.30 1.97" />
@@ -24,8 +24,8 @@
     </collision>
     <visual>
       <origin xyz="-0.87125 -0.205 0.985" />
-      <material name="c">
-        <color rgba="0 0 1.0 1.0" />
+      <material name="grey">
+        <color rgba="0.7 0.7 0.7 0.9" />
       </material>
       <geometry>
         <box size="0.0875 0.30 1.97" />
@@ -40,8 +40,8 @@
     </collision>
     <visual>
       <origin xyz="0 0 0.745" />
-      <material name="c">
-        <color rgba="0 0 1.0 1.0" />
+      <material name="grey">
+        <color rgba="0.7 0.7 0.7 0.9" />
       </material>
       <geometry>
         <box size="1.83 0.71 0.04" />