diff --git a/config/config_scene_ads-table.yaml b/config/config_scene_ads-table.yaml
index 52bbe2623920eb92a16fb225a64cdb403c995183..b81df49b233ef90e519efa8cccba9397aa7c439a 100644
--- a/config/config_scene_ads-table.yaml
+++ b/config/config_scene_ads-table.yaml
@@ -8,36 +8,36 @@
# panels are 50*70, with 0.5 cm distance to the table-top
# height of both is 12 + 76 + .5 = 88.5
# their centre is at 40 + 0.25 + 25 = 65.25
- { 'id': 'leg_1','pos': { 'x': 0.426,'y': 0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_1','pos': { 'x': 0.426,'y': 0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'leg_2','pos': { 'x': -0.426,'y': -0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'leg_3','pos': { 'x': -0.426,'y': 0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'leg_4','pos': { 'x': 0.426,'y': -0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_3','pos': { 'x': -0.426,'y': 0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_4','pos': { 'x': 0.426,'y': -0.83,'z': 0.327 },'size': { 'length': 0.04,'width': 0.04,'height': 0.634 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table-top', 'pos': { 'z': 0.668 },'size': { 'length': 0.892,'width': 1.7,'height': 0.068 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'front_bar', 'pos': { 'z': 0.257, 'x': 0.426 },'size': { 'length': 0.04,'width': 1.62,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'back_bar', 'pos': { 'z': 0.257, 'x': -0.426 },'size': { 'length': 0.04,'width': 1.62,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_bar', 'pos': { 'z': 0.257, 'y': -0.83 },'size': { 'length': 0.892,'width': 0.04,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'right_bar', 'pos': { 'z': 0.257, 'y': 0.83 },'size': { 'length': 0.892,'width': 0.04,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'right_bar', 'pos': { 'z': 0.257, 'y': 0.83 },'size': { 'length': 0.892,'width': 0.04,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# 12 cm from side edges of the table:
# x: edge -45 + halfsize 10 + distance 12 = -23 // second + distance 1 + fullsize 20 = -2 // third = 19
# y: edge -85 + halfsize 14 + distance 12 = -59 // second + distance 1 + fullsize 28 = -30
- { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': 0.19,'y': -0.60,'z': 0.772 },'size': { 'length': 0.20,'width': 0.28,'height': 0.14 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': 0.19,'y': -0.60,'z': 0.772 },'size': { 'length': 0.20,'width': 0.28,'height': 0.14 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.23,'y': -0.40,'z': 0.772 },'size': { 'length': 0.20,'width': 0.28,'height': 0.14 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': -0.02,'y': -0.50,'z': 0.772 },'size': { 'length': 0.20,'width': 0.28,'height': 0.14 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
# for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7160)/10000, (i*96+46)/10000));
- { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.15,'y': 0.400000,'z': 0.733100 },'size': { 'length': .0318, 'width': .0636,'height': 0.062200 },'orientation': { 'w': 1 },'color': {r: 1, g: 1} },
- { 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.30,'y': 0.000000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0636,'height': 0.081400 },'orientation': { 'w': 1 },'color': {r: 1} },
- { 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.15,'y': 0.000000,'z': 0.747500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {g: 1} },
- { 'id': 'bigBlue', 'type': 'BOX','pos': { 'x': -0.05,'y': 0.400000,'z': 0.747500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {b: 1} },
+ { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.15,'y': 0.400000,'z': 0.733100 },'size': { 'length': .0318, 'width': .0636,'height': 0.062200 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
+ { 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.30,'y': 0.000000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0636,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1 } },
+ { 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.15,'y': 0.000000,'z': 0.747500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { g: 1 } },
+ { 'id': 'bigBlue', 'type': 'BOX','pos': { 'x': -0.05,'y': 0.400000,'z': 0.747500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { b: 1 } },
# for i in range(3,10): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0.5,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7020)/10000, (i*96+46)/10000));
- { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.15,'y': -0.200000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': {r: 1, g: 1} },
- { 'id': 'smallBlue', 'type': 'BOX','pos': { 'x': 0.15,'y': 0.200000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': {b: 1} },
+ { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.15,'y': -0.200000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
+ { 'id': 'smallBlue', 'type': 'BOX','pos': { 'x': 0.15,'y': 0.200000,'z': 0.742700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { b: 1 } },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.702 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
diff --git a/config/config_scene_ceti-table.yaml b/config/config_scene_ceti-table.yaml
index 44a984c4c88b11d9fd9321784229d5250417345c..db874268bdc2e08c2156941113cbaad0a131779e 100644
--- a/config/config_scene_ceti-table.yaml
+++ b/config/config_scene_ceti-table.yaml
@@ -9,20 +9,20 @@
# panels are 50*70, with 0.5 cm distance to the table-top
# height of both is 12 + 76 + .5 = 88.5
# their centre is at 40 + 0.25 + 25 = 65.25
- { 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
# { 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m
@@ -31,16 +31,16 @@
# their x location is N*19 + 9.5 - 35 = N*20 - 25.5 = -25.5 and -5.5 and 14.5 if they have 1 cm distance
{ 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.055,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
- { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.145,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.145,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
- { 'id': 'object4x2x5.0_Y','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1} },
+ { 'id': 'object4x2x5.0_Y','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
- { 'id': 'object4x2x4.5_G','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
- { 'id': 'object4x2x4.5_B','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'object4x2x4.5_G','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'object4x2x4.5_B','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
- { 'id': 'object2x2x4.0_b','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
- { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
- { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'object2x2x4.0_b','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+ { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
# heights of objects (including pins):
# formula: half-height * 9.6 + 4.6
diff --git a/config/config_scene_st-table.yaml b/config/config_scene_st-table.yaml
index ed16e15ed97fe4b813ec98dc0557113d5e135229..e439e2220b0df76bbaab4477483a1e425c4177a8 100644
--- a/config/config_scene_st-table.yaml
+++ b/config/config_scene_st-table.yaml
@@ -3,40 +3,40 @@
{ 'objects': [
# table height = 13.1 + 58.5 = 71.6
- { 'id': 'wheel_1','pos': { 'x': -0.148,'y': 0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_1','pos': { 'x': -0.148,'y': 0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'wheel_2','pos': { 'x': -0.148,'y': -0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'wheel_3','pos': { 'x': 0.554,'y': 0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'wheel_4','pos': { 'x': 0.554,'y': -0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_3','pos': { 'x': 0.554,'y': 0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_4','pos': { 'x': 0.554,'y': -0.67,'z': 0.0655 },'size': { 'length': 0.18,'width': 0.18,'height': 0.131 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# leg z:
- { 'id': 'leg_1','pos': { 'x': -0.225,'y': 0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'leg_2','pos': { 'x': -0.225,'y': -0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'leg_3','pos': { 'x': 0.633,'y': 0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'leg_4','pos': { 'x': 0.633,'y': -0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_1','pos': { 'x': -0.225,'y': 0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_2','pos': { 'x': -0.225,'y': -0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_3','pos': { 'x': 0.633,'y': 0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'leg_4','pos': { 'x': 0.633,'y': -0.83,'z': 0.39025 },'size': { 'length': 0.04,'width': 0.04,'height': 0.5185 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# top z pos = 71.6 - (6.65)/2 = 71.6 - 3.325 = 68.275
- { 'id': 'table_lower_shelf','pos': {'x': 0.203, 'z': 0.151 },'size': { 'length': 0.9,'width': 1.7,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'table_mid_shelf','pos': {'x': 0.203, 'z': 0.333 },'size': { 'length': 0.9,'width': 1.7,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
- { 'id': 'table_top','pos': {'x': 0.203, 'z': 0.68275 },'size': { 'length': 0.9,'width': 1.7,'height': 0.0665 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_lower_shelf','pos': { 'x': 0.203, 'z': 0.151 },'size': { 'length': 0.9,'width': 1.7,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_mid_shelf','pos': { 'x': 0.203, 'z': 0.333 },'size': { 'length': 0.9,'width': 1.7,'height': 0.04 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_top','pos': { 'x': 0.203, 'z': 0.68275 },'size': { 'length': 0.9,'width': 1.7,'height': 0.0665 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# zpos = 71.6 + 5.25 = 76.85
# most behind outer corner at: 85-47-12 = 20cm
- { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.00,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } },
- { 'id': 'binRed', 'type': 'BIN','pos': { 'x': 0.18,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
- { 'id': 'binGreen', 'type': 'BIN','pos': { 'x': 0.36,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } },
+ { 'id': 'binBlue', 'type': 'BIN','pos': { 'x': -0.00,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } },
+ { 'id': 'binRed', 'type': 'BIN','pos': { 'x': 0.18,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } },
+ { 'id': 'binGreen', 'type': 'BIN','pos': { 'x': 0.36,'y': -0.47,'z': 0.7685 },'size': { 'length': 0.17,'width': 0.24,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } },
# for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7160)/10000, (i*96+46)/10000));
-{ 'id': 'object4x2x4.5_r','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.761500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {r: 1} },
+ { 'id': 'object4x2x4.5_r','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.761500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { r: 1 } },
- { 'id': 'object4x2x5.0_y','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': {r: 1, g: 1} },
- { 'id': 'object4x2x5.0_b','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': {b: 1} },
- { 'id': 'object4x2x5.0_g','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': {g: 1} },
+ { 'id': 'object4x2x5.0_y','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
+ { 'id': 'object4x2x5.0_b','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { b: 1 } },
+ { 'id': 'object4x2x5.0_g','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.766300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { g: 1 } },
-# for i in range(3,10): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0.5,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7160)/10000, (i*96+46)/10000));
- { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.5,'y': -0.100000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1} },
- { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.5,'y': 0.00000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1, g: 1} },
+ # for i in range(3,10): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0.5,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+7160)/10000, (i*96+46)/10000));
+ { 'id': 'object2x2x4.0_r','type': 'BOX','pos': { 'x': 0.5,'y': -0.100000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1 } },
+ { 'id': 'object2x2x4.0_y','type': 'BOX','pos': { 'x': 0.5,'y': 0.00000,'z': 0.756700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { r: 1, g: 1 } },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.716 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
diff --git a/config/config_scene_td.yaml b/config/config_scene_td.yaml
index 5c43b6324ef8d2daba5e76baa49bfec61efd8a97..345930ee7fd28ce9f49e34965da75d6a5d211d09 100644
--- a/config/config_scene_td.yaml
+++ b/config/config_scene_td.yaml
@@ -1,26 +1,26 @@
{ 'objects': [
-{ 'id': 'tablePillar1','pos': { 'x': 0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tablePillar2','pos': { 'x': -0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tablePillar3','pos': { 'x': -0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tablePillar4','pos': { 'x': 0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tablePillar1','pos': { 'x': 0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tablePillar2','pos': { 'x': -0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tablePillar3','pos': { 'x': -0.37,'y': 0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tablePillar4','pos': { 'x': 0.37,'y': -0.37,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tableCenter','pos': { 'z': 0.7 },'size': { 'length': 0.8,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tableLeft','pos': { 'z': 0.7, 'y' : -0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tableRight','pos': { 'z': 0.7, 'y' : 0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'tableFront','pos': { 'z': 0.7, 'x' : 0.665 },'size': { 'length': 0.51,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tableCenter','pos': { 'z': 0.7 },'size': { 'length': 0.8,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tableLeft','pos': { 'z': 0.7, 'y': -0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tableRight','pos': { 'z': 0.7, 'y': 0.665 },'size': { 'length': 0.8,'width': 0.51,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'tableFront','pos': { 'z': 0.7, 'x': 0.665 },'size': { 'length': 0.51,'width': 0.8,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
-{ 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.15,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-{ 'id': 'binRed','type': 'BIN','pos': { 'x': 0.20,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.15,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.20,'y': 0.50,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-{ 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-{ 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
-{ 'id': 'objectRed3','type': 'BOX','pos': { 'x': 0.35, 'y' : 0.1,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
-{ 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-{ 'id': 'objectGreen2','type': 'BOX','pos': { 'x': 0.0,'y': -0.5,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
-{ 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
-{ 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.5,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-{ 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.2,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-{ 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.45,'y' : 0.1, 'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
+ { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
+ { 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'objectRed3','type': 'BOX','pos': { 'x': 0.35, 'y': 0.1,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
+ { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
+ { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': 0.0,'y': -0.5,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
+ { 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
+ { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.5,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
+ { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.2,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
+ { 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.45,'y': 0.1, 'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
-{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 , 'x' : -0.22},'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+ { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
diff --git a/launch/main_controller_virtual-table.launch b/launch/main_controller_virtual-table.launch
index f8637648645aa03f0e3494c0f2f1243a3411457c..22b6985aeaec92a71b528bb821c3359e74f3334b 100644
--- a/launch/main_controller_virtual-table.launch
+++ b/launch/main_controller_virtual-table.launch
@@ -1,13 +1,13 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="['ads', 'st', 'ceti']" />
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="['ads', 'st', 'ceti']"/>
- <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json" />
+ <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/>
</node>
</launch>
diff --git a/launch/random_selector_automatic.launch b/launch/random_selector_automatic.launch
index 8d761344b2488284f6f1c9b33da89e2c083b36e7..dfa5a5d5d482f034bea5039a33142eddda9d7031 100644
--- a/launch/random_selector_automatic.launch
+++ b/launch/random_selector_automatic.launch
@@ -1,8 +1,9 @@
<launch>
- <arg name="autoselect" default="true" />
- <arg name="prefix" default="selector" />
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen">
- <param name="autoselect" type="bool" value="$(arg autoselect)" />
- <param name="prefix" type="string" value="$(arg prefix)" />
+ <arg name="autoselect" default="true"/>
+ <arg name="prefix" default="selector"/>
+ <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider"
+ output="screen">
+ <param name="autoselect" type="bool" value="$(arg autoselect)"/>
+ <param name="prefix" type="string" value="$(arg prefix)"/>
</node>
</launch>
diff --git a/launch/random_selector_manual.launch b/launch/random_selector_manual.launch
index 5b6d080ceeb5ac10e5bf331a9797e9a1a6be0fd5..778ad91e218a5f6aef6a1e345e6cabc7a1577adb 100644
--- a/launch/random_selector_manual.launch
+++ b/launch/random_selector_manual.launch
@@ -1,8 +1,9 @@
<launch>
- <arg name="autoselect" default="false" />
- <arg name="prefix" default="selector" />
- <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider" output="screen">
- <param name="autoselect" type="bool" value="$(arg autoselect)" />
- <param name="prefix" type="string" value="$(arg prefix)" />
+ <arg name="autoselect" default="false"/>
+ <arg name="prefix" default="selector"/>
+ <node pkg="ccf_immersive_sorting" type="dummy_selection_provider" name="my_dummy_selection_provider"
+ output="screen">
+ <param name="autoselect" type="bool" value="$(arg autoselect)"/>
+ <param name="prefix" type="string" value="$(arg prefix)"/>
</node>
</launch>
diff --git a/launch/robot-cell_ads-table.launch b/launch/robot-cell_ads-table.launch
index a329b020be9d07f6670b84248698341e18aff1e6..c2b1167aaac34130cc304aa11de2005ba7c4b878 100644
--- a/launch/robot-cell_ads-table.launch
+++ b/launch/robot-cell_ads-table.launch
@@ -1,18 +1,19 @@
<launch>
- <arg name="robot_ip" default="172.31.1.13" />
- <arg name="load_gripper" default="true" />
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="robot_ip" default="172.31.1.13"/>
+ <arg name="load_gripper" default="true"/>
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
- <include file="$(find ccf)/launch/robot_setup.launch" >
- <arg name="robot_ip" value="$(arg robot_ip)" />
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node>
</launch>
diff --git a/launch/robot-cell_ceti-table.launch b/launch/robot-cell_ceti-table.launch
index 9d94e426b93fed5b0825a6ceee2f529d6f8678d5..edbcecd5e3839093486af52163ae9608d9ccac9b 100644
--- a/launch/robot-cell_ceti-table.launch
+++ b/launch/robot-cell_ceti-table.launch
@@ -1,18 +1,19 @@
<launch>
- <arg name="robot_ip" default="172.31.1.13" />
- <arg name="load_gripper" default="true" />
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="robot_ip" default="172.31.1.13"/>
+ <arg name="load_gripper" default="true"/>
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
- <include file="$(find ccf)/launch/robot_setup.launch" >
- <arg name="robot_ip" value="$(arg robot_ip)" />
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
</launch>
diff --git a/launch/robot-cell_st-table.launch b/launch/robot-cell_st-table.launch
index 558a4ba995ff4f9c51fc9e863f2f44ba448062da..0f58944cc9f93498f8154c9fe55f1bb090c817b8 100644
--- a/launch/robot-cell_st-table.launch
+++ b/launch/robot-cell_st-table.launch
@@ -1,18 +1,19 @@
<launch>
- <arg name="robot_ip" default="172.31.1.13" />
- <arg name="load_gripper" default="true" />
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="robot_ip" default="172.31.1.13"/>
+ <arg name="load_gripper" default="true"/>
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
- <include file="$(find ccf)/launch/robot_setup.launch" >
- <arg name="robot_ip" value="$(arg robot_ip)" />
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
</node>
</launch>
diff --git a/launch/simulated-cell_ads-table.launch b/launch/simulated-cell_ads-table.launch
index 8e26a69a9b17eec24335116f64e7ba691b3d961e..003e30365c1b066dac32c7eccf9f1f92a41cd3af 100644
--- a/launch/simulated-cell_ads-table.launch
+++ b/launch/simulated-cell_ads-table.launch
@@ -1,14 +1,15 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
</node>
</launch>
diff --git a/launch/simulated-cell_ceti-table.launch b/launch/simulated-cell_ceti-table.launch
index d4607d6d126f0c0fa62d29d3fe4e7a5aabede939..1a3dd3cbe9f6a952ba70c2ed170445b2ae47b528 100644
--- a/launch/simulated-cell_ceti-table.launch
+++ b/launch/simulated-cell_ceti-table.launch
@@ -1,14 +1,15 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
</node>
</launch>
diff --git a/launch/simulated-cell_st-table.launch b/launch/simulated-cell_st-table.launch
index 3a0cebf077faf012ee71a0c4eb4d32754043723f..70f4a2205074985e962ae6627f95ab705cf94431 100644
--- a/launch/simulated-cell_st-table.launch
+++ b/launch/simulated-cell_st-table.launch
@@ -1,14 +1,15 @@
<launch>
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
+ <arg name="connection_address" default="tcp://*:6576"/>
+ <arg name="client_controllers" default="[]"/>
<include file="$(find ccf)/launch/simulation_setup.launch"/>
- <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json" />
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="moveit_sorting_controller_instance"
+ output="screen">
+ <param name="connection_address" type="string" value="$(arg connection_address)"/>
+ <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
</node>
</launch>