Mobile rack (#317) (#322)

* add mobile rack Co-authored-by: yuokamoto <[email protected]>
rapyuta-robotics · Nov 5, 2024 · bcaaaf8 · bcaaaf8
1 parent b08e511
commit bcaaaf8
Show file tree

Hide file tree

Showing 21 changed files with 298 additions and 91 deletions.
diff --git a/.gitattributes b/.gitattributes
@@ -2,5 +2,4 @@ Content/Robots/** filter=lfs diff=lfs merge=lfs -text
 Content/SkeletalRobots/** filter=lfs diff=lfs merge=lfs -text
 Content/Textures/** filter=lfs diff=lfs merge=lfs -text
 Content/ExternalDevices/** filter=lfs diff=lfs merge=lfs -text
-Content/Character/SKM_Manny_CtrlRig1.uasset filter=lfs diff=lfs merge=lfs -text
-Content/Character/SKM_Manny_CtrlRig2.uasset filter=lfs diff=lfs merge=lfs -text
+docs/source/_static/videos/** filter=lfs diff=lfs merge=lfs -text
diff --git a/Content/ExternalDevices/BP_ConveyorCollisionMeshAddon.uasset b/Content/ExternalDevices/BP_ConveyorCollisionMeshAddon.uasset
diff --git a/Content/ExternalDevices/BP_ExternalDeviceBase.uasset b/Content/ExternalDevices/BP_ExternalDeviceBase.uasset
diff --git a/Content/ExternalDevices/BP_MobileRack.uasset b/Content/ExternalDevices/BP_MobileRack.uasset
diff --git a/Content/ExternalDevices/BP_PayloadHandlerBase.uasset b/Content/ExternalDevices/BP_PayloadHandlerBase.uasset
diff --git a/Content/ExternalDevices/BP_RackParam.uasset b/Content/ExternalDevices/BP_RackParam.uasset
diff --git a/Content/ExternalDevices/BP_RackUnit.uasset b/Content/ExternalDevices/BP_RackUnit.uasset
diff --git a/Content/ExternalDevices/BP_SourceArea.uasset b/Content/ExternalDevices/BP_SourceArea.uasset
diff --git a/Content/ExternalDevices/BP_SplineConveyor.uasset b/Content/ExternalDevices/BP_SplineConveyor.uasset
diff --git a/Content/ExternalDevices/BP_VerticalConveyor.uasset b/Content/ExternalDevices/BP_VerticalConveyor.uasset
diff --git a/Content/ExternalDevices/Legacy/BP_SimpleConveyor.uasset b/Content/ExternalDevices/Legacy/BP_SimpleConveyor.uasset
diff --git a/Content/Tools/BP_PayloadBase.uasset b/Content/Tools/BP_PayloadBase.uasset
diff --git a/Content/Tools/RRGeneralUtility.uasset b/Content/Tools/RRGeneralUtility.uasset
diff --git a/Content/Tools/RRGeneralUtilityMacro.uasset b/Content/Tools/RRGeneralUtilityMacro.uasset
diff --git a/Source/RapyutaSimulationPlugins/Public/Core/RRConversionUtils.h b/Source/RapyutaSimulationPlugins/Public/Core/RRConversionUtils.h
@@ -34,6 +34,12 @@ class URRConversionUtils : public UBlueprintFunctionLibrary
         return FVector(InLocation.X, -InLocation.Y, InLocation.Z);
     }
 
+    UFUNCTION(BlueprintCallable, Category = "Conversion")
+    static FVector2D ConvertHandedness2D(const FVector2D& InLocation)
+    {
+        return FVector2D(InLocation.X, -InLocation.Y);
+    }
+
     // UE: cm, ROS: m
     template<typename T>
     static T DistanceROSToUE(const T& InROSDistance)
@@ -77,6 +83,18 @@ class URRConversionUtils : public UBlueprintFunctionLibrary
         OutputZ = InputZ * 0.01f;
     }
 
+    UFUNCTION(BlueprintCallable, Category = "Conversion")
+    static FVector2D Vector2DUEToROS(const FVector2D& Input)
+    {
+        return 0.01f * ConvertHandedness2D(Input);
+    }
+
+    FORCEINLINE static void Vector2DUEToROS(const double& InputX, const double& InputY, double& OutputX, double& OutputY)
+    {
+        OutputX = InputX * 0.01f;
+        OutputY = -InputY * 0.01f;
+    }
+
     /**
      * @brief Convert UE Rotation to ROS Vector with optional Deg->Rad conversion
      * @param Input
@@ -168,6 +186,23 @@ class URRConversionUtils : public UBlueprintFunctionLibrary
         OutputZ = InputZ * 100.f;
     }
 
+    UFUNCTION(BlueprintCallable, Category = "Conversion")
+    static FVector2D Vector2DROSToUE(const FVector2D& Input)
+    {
+        return 100.f * ConvertHandedness2D(Input);
+    }
+
+    FORCEINLINE static void Vector2DROSToUE(const FVector2D& Input, FVector2D& Output)
+    {
+        Output.Set(Input.X * 100.f, -Input.Y * 100.f);
+    }
+
+    FORCEINLINE static void Vector2DROSToUE(const double& InputX, const double& InputY, double& OutputX, double& OutputY)
+    {
+        OutputX = InputX * 100.f;
+        OutputY = -InputY * 100.f;
+    }
+
     /**
      * @brief Convert ROS Rotation Euler (rad) to UE Vector with optional Rad->Deg conversion
      * @param Input

diff --git a/docs/source/_static/videos/mobile_rack_demo.mp4 b/docs/source/_static/videos/mobile_rack_demo.mp4
diff --git a/docs/source/_static/videos/mobile_rack_param.mp4 b/docs/source/_static/videos/mobile_rack_param.mp4
diff --git a/docs/source/_static/videos/mobile_rack_ros_api.mp4 b/docs/source/_static/videos/mobile_rack_ros_api.mp4
diff --git a/docs/source/_static/videos/unit_rack_param.mp4 b/docs/source/_static/videos/unit_rack_param.mp4