Skip to content

Commit

Permalink
PR comment updates
Browse files Browse the repository at this point in the history
  • Loading branch information
Chance Cardona committed Nov 1, 2023
1 parent 3655caf commit 77883ca
Show file tree
Hide file tree
Showing 2 changed files with 4 additions and 4 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ std_msgs/Header header
string id

# The pose of the object relative to the frame specified in the header. This is
# used to create the transform to the object, from which all subframes are relative to.
# used to create the transform to the object, from which all subframe poses are relative to.
geometry_msgs/Pose pose

# A solid primitive which represents the maximum extent of the object.
Expand All @@ -20,13 +20,13 @@ shape_msgs/SolidPrimitive bounding_volume
moveit_studio_vision_msgs/GraspableFace[] surfaces

# Primitives. A vector of solid geometric primitives which describe the shape of the object.
# The primitive_poses must be the same length, where each pose is relative to the transform.child_id
shape_msgs/SolidPrimitive[] primitives
# The primitive_poses must be the same length as primitives, where each pose is relative to the objects pose.
geometry_msgs/Pose[] primitive_poses

# Meshes. A vector of meshes which describe the shape of the object.
# The mesh_poses must be the same length, where each pose is relative to the transform.child_id
shape_msgs/Mesh[] meshes
# The mesh_poses must be the same length as meshes, where each pose is relative to the objects pose.
geometry_msgs/Pose[] mesh_poses

# Subframes. These correspond to affordances and their poses (relative to the object's pose).
Expand Down
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
# Subframe of an Object. This is intended to hold information about features of an object,
# and includes an ID of the feature, its pose, any describing geometry relative to this pose, and affordances.
# and includes an ID of the feature along with its pose. This is what should hold an affordance and any needed primitives for it.

# ID of the subframe
string id
Expand Down

0 comments on commit 77883ca

Please sign in to comment.