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This commit is contained in:
li-shihao-code
2026-05-23 21:43:45 +08:00
parent d708e1bbea
commit a713b5d9ab
31 changed files with 4713 additions and 683 deletions
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agv_calib_brain/.isaac_cache/workshop_scene_manifest.json
+2 -2
View File
@@ -637,7 +637,7 @@
}
},
"ros_topics": {
"cmd_vel": "/cmd_vel",
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
@@ -645,7 +645,7 @@
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/telemetry",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis.json
+184
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@@ -0,0 +1,184 @@
{
"vehicle": {
"vehicle_id": "demo_agv_001",
"vehicle_source": "urdf_direct",
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"usd_path": null,
"stage_prim_path": "/ackermann_front_steer_rear_drive",
"drive_wheels": [
"rear_left_wheel_link",
"rear_right_wheel_link"
],
"steer_wheels": [
"front_left_wheel_link",
"front_right_wheel_link"
],
"initial_pose": {
"x_m": 0.0,
"y_m": 0.0,
"z_m": 0.0,
"yaw_rad": 0.0
}
},
"workshop": {
"workcell_zone_id": "isaac_workcell_zone_a",
"room_length_m": 10.0,
"room_width_m": 6.0,
"room_height_m": 3.5,
"checkerboard": {
"rows": 6,
"cols": 9,
"square_size_m": 0.12,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
"reserved_wall_zones": {},
"layout": []
},
"down_camera_intrinsic_target": {
"enabled": false,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
"pattern": "charuco",
"squares_x": 30,
"squares_y": 10,
"square_size_x_m": 0.09000000000000001,
"square_size_y_m": 0.09,
"layout": []
}
},
"ros_topics": {
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
"down_camera_image": "/sensor/down_camera/image_raw",
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
"localization_source_id": "isaac_sim_truth_source",
"reference_source_name": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
},
"sensors": [
{
"sensor_id": "demo_front_camera",
"sensor_type": "front_camera",
"frame_id": "front_camera_link",
"image_topic": "/sensor/front_camera/image_raw",
"telemetry_topic": "/sensor_calibration/telemetry",
"mount_pose": {
"x_m": 1.12,
"y_m": 0.0,
"z_m": 1.18,
"roll_rad": 1.5707963267948966,
"pitch_rad": 0.0,
"yaw_rad": -1.5707963267948966
}
},
{
"sensor_id": "demo_down_camera",
"sensor_type": "down_camera",
"frame_id": "down_camera_link",
"image_topic": "/sensor/down_camera/image_raw",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_3d",
"sensor_type": "lidar_3d",
"frame_id": "lidar_3d_link",
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
"mount_pose": {
"x_m": 0.55,
"y_m": 0.0,
"z_m": 1.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_2d",
"sensor_type": "lidar_2d",
"frame_id": "lidar_2d_link",
"scan_topic": "/sensor/lidar_2d/scan",
"mount_pose": {
"x_m": 0.7,
"y_m": 0.0,
"z_m": 1.0,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_imu",
"sensor_type": "imu",
"frame_id": "imu_link",
"imu_topic": "/sensor/imu/data",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.26,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
}
],
"lidar_2d_calibration_targets": {
"enabled": false,
"target_width_m": 0.82,
"target_height_m": 1.6,
"target_thickness_m": 0.04,
"target_bottom_z_m": 0.08,
"slope_angle_deg": 45.0,
"targets": []
},
"orchestrator_session_config_hint": {
"vehicle_id": "demo_agv_001",
"localization_source_id": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"reference_target_id": "isaac_external_truth"
}
}
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_control_gateway.json
+184
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@@ -0,0 +1,184 @@
{
"vehicle": {
"vehicle_id": "demo_agv_001",
"vehicle_source": "urdf_direct",
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"usd_path": null,
"stage_prim_path": "/ackermann_front_steer_rear_drive",
"drive_wheels": [
"rear_left_wheel_link",
"rear_right_wheel_link"
],
"steer_wheels": [
"front_left_wheel_link",
"front_right_wheel_link"
],
"initial_pose": {
"x_m": 0.0,
"y_m": 0.0,
"z_m": 0.0,
"yaw_rad": 0.0
}
},
"workshop": {
"workcell_zone_id": "isaac_workcell_zone_a",
"room_length_m": 10.0,
"room_width_m": 6.0,
"room_height_m": 3.5,
"checkerboard": {
"rows": 6,
"cols": 9,
"square_size_m": 0.12,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
"reserved_wall_zones": {},
"layout": []
},
"down_camera_intrinsic_target": {
"enabled": false,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
"pattern": "charuco",
"squares_x": 30,
"squares_y": 10,
"square_size_x_m": 0.09000000000000001,
"square_size_y_m": 0.09,
"layout": []
}
},
"ros_topics": {
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
"down_camera_image": "/sensor/down_camera/image_raw",
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
"localization_source_id": "isaac_sim_truth_source",
"reference_source_name": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
},
"sensors": [
{
"sensor_id": "demo_front_camera",
"sensor_type": "front_camera",
"frame_id": "front_camera_link",
"image_topic": "/sensor/front_camera/image_raw",
"telemetry_topic": "/sensor_calibration/telemetry",
"mount_pose": {
"x_m": 1.12,
"y_m": 0.0,
"z_m": 1.18,
"roll_rad": 1.5707963267948966,
"pitch_rad": 0.0,
"yaw_rad": -1.5707963267948966
}
},
{
"sensor_id": "demo_down_camera",
"sensor_type": "down_camera",
"frame_id": "down_camera_link",
"image_topic": "/sensor/down_camera/image_raw",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_3d",
"sensor_type": "lidar_3d",
"frame_id": "lidar_3d_link",
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
"mount_pose": {
"x_m": 0.55,
"y_m": 0.0,
"z_m": 1.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_2d",
"sensor_type": "lidar_2d",
"frame_id": "lidar_2d_link",
"scan_topic": "/sensor/lidar_2d/scan",
"mount_pose": {
"x_m": 0.7,
"y_m": 0.0,
"z_m": 1.0,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_imu",
"sensor_type": "imu",
"frame_id": "imu_link",
"imu_topic": "/sensor/imu/data",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.26,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
}
],
"lidar_2d_calibration_targets": {
"enabled": false,
"target_width_m": 0.82,
"target_height_m": 1.6,
"target_thickness_m": 0.04,
"target_bottom_z_m": 0.08,
"slope_angle_deg": 45.0,
"targets": []
},
"orchestrator_session_config_hint": {
"vehicle_id": "demo_agv_001",
"localization_source_id": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"reference_target_id": "isaac_external_truth"
}
}
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_control_sensor_intrinsic.json
+184
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@@ -0,0 +1,184 @@
{
"vehicle": {
"vehicle_id": "demo_agv_001",
"vehicle_source": "urdf_direct",
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"usd_path": null,
"stage_prim_path": "/ackermann_front_steer_rear_drive",
"drive_wheels": [
"rear_left_wheel_link",
"rear_right_wheel_link"
],
"steer_wheels": [
"front_left_wheel_link",
"front_right_wheel_link"
],
"initial_pose": {
"x_m": 0.0,
"y_m": 0.0,
"z_m": 0.0,
"yaw_rad": 0.0
}
},
"workshop": {
"workcell_zone_id": "isaac_workcell_zone_a",
"room_length_m": 10.0,
"room_width_m": 6.0,
"room_height_m": 3.5,
"checkerboard": {
"rows": 6,
"cols": 9,
"square_size_m": 0.12,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
"reserved_wall_zones": {},
"layout": []
},
"down_camera_intrinsic_target": {
"enabled": false,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
"pattern": "charuco",
"squares_x": 30,
"squares_y": 10,
"square_size_x_m": 0.09000000000000001,
"square_size_y_m": 0.09,
"layout": []
}
},
"ros_topics": {
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
"down_camera_image": "/sensor/down_camera/image_raw",
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
"localization_source_id": "isaac_sim_truth_source",
"reference_source_name": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
},
"sensors": [
{
"sensor_id": "demo_front_camera",
"sensor_type": "front_camera",
"frame_id": "front_camera_link",
"image_topic": "/sensor/front_camera/image_raw",
"telemetry_topic": "/sensor_calibration/telemetry",
"mount_pose": {
"x_m": 1.12,
"y_m": 0.0,
"z_m": 1.18,
"roll_rad": 1.5707963267948966,
"pitch_rad": 0.0,
"yaw_rad": -1.5707963267948966
}
},
{
"sensor_id": "demo_down_camera",
"sensor_type": "down_camera",
"frame_id": "down_camera_link",
"image_topic": "/sensor/down_camera/image_raw",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_3d",
"sensor_type": "lidar_3d",
"frame_id": "lidar_3d_link",
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
"mount_pose": {
"x_m": 0.55,
"y_m": 0.0,
"z_m": 1.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_2d",
"sensor_type": "lidar_2d",
"frame_id": "lidar_2d_link",
"scan_topic": "/sensor/lidar_2d/scan",
"mount_pose": {
"x_m": 0.7,
"y_m": 0.0,
"z_m": 1.0,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_imu",
"sensor_type": "imu",
"frame_id": "imu_link",
"imu_topic": "/sensor/imu/data",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.26,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
}
],
"lidar_2d_calibration_targets": {
"enabled": false,
"target_width_m": 0.82,
"target_height_m": 1.6,
"target_thickness_m": 0.04,
"target_bottom_z_m": 0.08,
"slope_angle_deg": 45.0,
"targets": []
},
"orchestrator_session_config_hint": {
"vehicle_id": "demo_agv_001",
"localization_source_id": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"reference_target_id": "isaac_external_truth"
}
}
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_gateway.json
+184
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@@ -0,0 +1,184 @@
{
"vehicle": {
"vehicle_id": "demo_agv_001",
"vehicle_source": "urdf_direct",
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"usd_path": null,
"stage_prim_path": "/ackermann_front_steer_rear_drive",
"drive_wheels": [
"rear_left_wheel_link",
"rear_right_wheel_link"
],
"steer_wheels": [
"front_left_wheel_link",
"front_right_wheel_link"
],
"initial_pose": {
"x_m": 0.0,
"y_m": 0.0,
"z_m": 0.0,
"yaw_rad": 0.0
}
},
"workshop": {
"workcell_zone_id": "isaac_workcell_zone_a",
"room_length_m": 10.0,
"room_width_m": 6.0,
"room_height_m": 3.5,
"checkerboard": {
"rows": 6,
"cols": 9,
"square_size_m": 0.12,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
"reserved_wall_zones": {},
"layout": []
},
"down_camera_intrinsic_target": {
"enabled": false,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
"pattern": "charuco",
"squares_x": 30,
"squares_y": 10,
"square_size_x_m": 0.09000000000000001,
"square_size_y_m": 0.09,
"layout": []
}
},
"ros_topics": {
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
"down_camera_image": "/sensor/down_camera/image_raw",
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
"localization_source_id": "isaac_sim_truth_source",
"reference_source_name": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
},
"sensors": [
{
"sensor_id": "demo_front_camera",
"sensor_type": "front_camera",
"frame_id": "front_camera_link",
"image_topic": "/sensor/front_camera/image_raw",
"telemetry_topic": "/sensor_calibration/telemetry",
"mount_pose": {
"x_m": 1.12,
"y_m": 0.0,
"z_m": 1.18,
"roll_rad": 1.5707963267948966,
"pitch_rad": 0.0,
"yaw_rad": -1.5707963267948966
}
},
{
"sensor_id": "demo_down_camera",
"sensor_type": "down_camera",
"frame_id": "down_camera_link",
"image_topic": "/sensor/down_camera/image_raw",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_3d",
"sensor_type": "lidar_3d",
"frame_id": "lidar_3d_link",
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
"mount_pose": {
"x_m": 0.55,
"y_m": 0.0,
"z_m": 1.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_2d",
"sensor_type": "lidar_2d",
"frame_id": "lidar_2d_link",
"scan_topic": "/sensor/lidar_2d/scan",
"mount_pose": {
"x_m": 0.7,
"y_m": 0.0,
"z_m": 1.0,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_imu",
"sensor_type": "imu",
"frame_id": "imu_link",
"imu_topic": "/sensor/imu/data",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.26,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
}
],
"lidar_2d_calibration_targets": {
"enabled": false,
"target_width_m": 0.82,
"target_height_m": 1.6,
"target_thickness_m": 0.04,
"target_bottom_z_m": 0.08,
"slope_angle_deg": 45.0,
"targets": []
},
"orchestrator_session_config_hint": {
"vehicle_id": "demo_agv_001",
"localization_source_id": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"reference_target_id": "isaac_external_truth"
}
}
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_only.json
+184
View File
@@ -0,0 +1,184 @@
{
"vehicle": {
"vehicle_id": "demo_agv_001",
"vehicle_source": "urdf_direct",
"source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
"usd_path": null,
"stage_prim_path": "/ackermann_front_steer_rear_drive",
"drive_wheels": [
"rear_left_wheel_link",
"rear_right_wheel_link"
],
"steer_wheels": [
"front_left_wheel_link",
"front_right_wheel_link"
],
"initial_pose": {
"x_m": 0.0,
"y_m": 0.0,
"z_m": 0.0,
"yaw_rad": 0.0
}
},
"workshop": {
"workcell_zone_id": "isaac_workcell_zone_a",
"room_length_m": 10.0,
"room_width_m": 6.0,
"room_height_m": 3.5,
"checkerboard": {
"rows": 6,
"cols": 9,
"square_size_m": 0.12,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
"reserved_wall_zones": {},
"layout": []
},
"down_camera_intrinsic_target": {
"enabled": false,
"texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
"pattern": "charuco",
"squares_x": 30,
"squares_y": 10,
"square_size_x_m": 0.09000000000000001,
"square_size_y_m": 0.09,
"layout": []
}
},
"ros_topics": {
"cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
"camera_image": "/AutoCalib_Workshop/camera/image_raw",
"lidar_prefix": "/AutoCalib_Workshop/lidar",
"front_camera_image": "/sensor/front_camera/image_raw",
"down_camera_image": "/sensor/down_camera/image_raw",
"lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
"lidar_2d_scan": "/sensor/lidar_2d/scan",
"imu": "/sensor/imu/data",
"external_telemetry": "/isaac/external_localization/vehicle/pose",
"chassis_telemetry": "/chassis/telemetry",
"control_telemetry": "/control/telemetry",
"sensor_telemetry": "/sensor_calibration/telemetry"
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
"localization_source_id": "isaac_sim_truth_source",
"reference_source_name": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
},
"sensors": [
{
"sensor_id": "demo_front_camera",
"sensor_type": "front_camera",
"frame_id": "front_camera_link",
"image_topic": "/sensor/front_camera/image_raw",
"telemetry_topic": "/sensor_calibration/telemetry",
"mount_pose": {
"x_m": 1.12,
"y_m": 0.0,
"z_m": 1.18,
"roll_rad": 1.5707963267948966,
"pitch_rad": 0.0,
"yaw_rad": -1.5707963267948966
}
},
{
"sensor_id": "demo_down_camera",
"sensor_type": "down_camera",
"frame_id": "down_camera_link",
"image_topic": "/sensor/down_camera/image_raw",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_3d",
"sensor_type": "lidar_3d",
"frame_id": "lidar_3d_link",
"pointcloud_topic": "/sensor/lidar_3d/pointcloud",
"mount_pose": {
"x_m": 0.55,
"y_m": 0.0,
"z_m": 1.2,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_lidar_2d",
"sensor_type": "lidar_2d",
"frame_id": "lidar_2d_link",
"scan_topic": "/sensor/lidar_2d/scan",
"mount_pose": {
"x_m": 0.7,
"y_m": 0.0,
"z_m": 1.0,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
},
{
"sensor_id": "demo_imu",
"sensor_type": "imu",
"frame_id": "imu_link",
"imu_topic": "/sensor/imu/data",
"mount_pose": {
"x_m": 0.4,
"y_m": 0.0,
"z_m": 0.26,
"roll_rad": 0.0,
"pitch_rad": 0.0,
"yaw_rad": 0.0
}
}
],
"lidar_2d_calibration_targets": {
"enabled": false,
"target_width_m": 0.82,
"target_height_m": 1.6,
"target_thickness_m": 0.04,
"target_bottom_z_m": 0.08,
"slope_angle_deg": 45.0,
"targets": []
},
"orchestrator_session_config_hint": {
"vehicle_id": "demo_agv_001",
"localization_source_id": "isaac_sim_truth_source",
"workcell_zone_id": "isaac_workcell_zone_a",
"reference_target_id": "isaac_external_truth"
}
}