How to Change the Size of the Platform and FencesΒΆ

The design of the ilc_platform combined with fences are in examples/random_pick/random_pick/urdf/ilc_platform/ilc_platform.urdf.xacro.

You can explore the details of the design in Rviz by running:

roslaunch random_pick visualize_ilc_platform.launch
../../_images/ilc_platform.png

The ilc_platform and fences are integrated with the UR5 robot in examples/random_pick/random_pick/urdf/ur5_plus/ur5_hitbot_ilc_platform.urdf.xacro.

You can change the size of the ilc_platform and fences in the following lines:

<!-- platform -->
<xacro:include filename="$(find random_pick)/urdf/ilc_platform/ilc_platform.urdf.xacro" />
<xacro:platform platform_height="0.32"
                platform_width="0.7"
                platform_length="0.98"
                connected_to="world"
                xyz="0 0 0"
                rpy="0 0 0"
                up_beam="false"
                fence_left_dist="0.5"
                fence_right_dist="1.0"
                fence_front_dist="0.8"
                fence_back_dist="0.6"
                fence_top_height="1.75"
                fence_transparent="0.1"/>

If you change the values in the above lines in the two files, you can immediately see the result by running:

roslaunch random_pick visualize_ur5.launch

At the same time, the table and fences will also be changed in the MoveIt scene.