← Source browser

src/beambot/config/beamline_scene.yaml

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
# Shared planning scene for all MoveIt configurations
# All obstacles that should be present regardless of end-effector

obstacles:
  # Robot base pedestal/mount (8in x 8in x 10in)
  - name: "robot_base"
    type: "box"
    frame: "map"
    pose:
      x: 0.0
      y: 0.0
      z: -0.1275  # Half height (10in/2 = 5in = 0.127m) below origin
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [0.203, 0.203, 0.254]  # [8in, 8in, 10in] in meters

  # Thorlabs optical table B3648FX (36" x 48" x 2.28")
  - name: "thorlabs_table"
    type: "box"
    frame: "map"
    pose:
      x: -0.3810   # 9" from edge along 48" dimension = -15" from center
      y: -0.3556   # 4" from edge along 36" dimension = -14" from center
      # z: -0.283  # Table top below robot base
      z: -0.483
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [1.2192, 0.9144, 0.05791]  # [48in, 36in, 2.28in] in meters

  # Custom cylinder obstacle (5cm radius, 42" length)
  - name: "beam_cylinder"
    type: "cylinder"
    frame: "base"
    pose:
      x: 0.36     # 36cm in the base frame
      y: 0.0       # 0 inches
      z: 0.205     # 20.5cm in the base frame
      roll: 1.5708  # 90 degrees rotation around X axis
      pitch: 0.0
      yaw: 0.0
    height: 1.0668   # 42 inches in meters
    radius: 0.05     # 5cm in meters

  # Detector box (28" x 16" x 50") in base_link for GUI compatibility.
  # From base, negate X/Y; 180-degree box symmetry allows yaw to remain zero.
  - name: "detector"
    type: "box"
    frame: "base_link"
    pose:
      x: 0.0       # base x:0 -> base_link x:0
      y: -0.865    # base y:+0.865 -> base_link y:-0.865 (detector closer)
      z: 0.1
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [0.7112,0.4064, 1.27]  # [28in, 16in, 50in] in meters

# Hot plate stage for CMS beamline
  # - name: "hotplatestage"
  #   type: "box"
  #   frame: "map"
  #   pose:
  #     x: -0.38
  #     y: -0.50
  #     z: -0.045
  #     roll: 0.0
  #     pitch: 0.0
  #     yaw: 0.0
  #   size: [0.3, 0.3, 0.5]

## Static Experiments sample bar holder stage
  - name: "hotplatestage"
    type: "box"
    frame: "map"
    pose:
      x: -0.38
      y: -0.50
      z: -0.050
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [0.3, 0.3, 0.5]


  - name: "rightside_obstacles"
    type: "box"
    frame: "map"
    pose:
      x: 0.0       
      y: 0.60    
      z: 0.1    
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [0.7112,0.4064, 1.27] 

  - name: "top_railing"
    type: "box"
    frame: "map"
    pose:
      x: -0.3810   # 9" from edge along 48" dimension = -15" from center
      y: -0.3556   # 4" from edge along 36" dimension = -14" from center
      # z: -0.283  # Table top below robot base
      z: 1.02
      roll: 0.0
      pitch: 0.0
      yaw: 0.0
    size: [1.2192, 0.9144, 0.05791]  # [48in, 36in, 2.28in] in meters

# Note: Add more obstacles here as needed
# Supported types: box, cylinder, sphere