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Commit 3c9e7346 authored by Johannes Mey's avatar Johannes Mey
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add grey bins as detectable and remove from scene

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config/config_scene_ceti-table-1-empty-grey.json
+ 0
− 88
View file @ 3c9e7346
...@@ -223,94 +223,6 @@ ...@@ -223,94 +223,6 @@
"b": 0.15 "b": 0.15
} }
}, },
{
"id": "D",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.67,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.2,
"g": 0.2,
"b": 0.2
}
},
{
"id": "C",
"type": "BIN",
"pos": {
"x": -0.23,
"y": 0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.4,
"g": 0.4,
"b": 0.4
}
},
{
"id": "B",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.49,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.6,
"g": 0.6,
"b": 0.6
}
},
{
"id": "A",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.67,
"z": 0.9425
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.8,
"g": 0.8,
"b": 0.8
}
},
{ {
"id": "arm", "id": "arm",
"type": "ARM", "type": "ARM",
......
config/config_scene_ceti-table-1-empty-grey.yaml
+ 4
− 4
View file @ 3c9e7346
...@@ -29,10 +29,10 @@ ...@@ -29,10 +29,10 @@
# the width is 31.8 or 63.6 # the width is 31.8 or 63.6
# if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75 # if they stand on a panel edge, they stand at 40 + 0.5 + 14.25 = 54.75
# 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 # 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': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } }, # { 'id': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } }, # { 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } }, # { 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } }, # { 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } { 'id': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] } ] }
config/objects.json
+ 88
− 0
View file @ 3c9e7346
...@@ -365,6 +365,94 @@ ...@@ -365,6 +365,94 @@
"g": "1" "g": "1"
} }
}, },
{
"id": "D",
"type": "BIN",
"pos": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.2,
"g": 0.2,
"b": 0.2
}
},
{
"id": "C",
"type": "BIN",
"pos": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.4,
"g": 0.4,
"b": 0.4
}
},
{
"id": "B",
"type": "BIN",
"pos": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.6,
"g": 0.6,
"b": 0.6
}
},
{
"id": "A",
"type": "BIN",
"pos": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"length": 0.24,
"width": 0.17,
"height": 0.105
},
"orientation": {
"w": 1
},
"color": {
"r": 0.8,
"g": 0.8,
"b": 0.8
}
},
{ {
"id": "arm", "id": "arm",
"type": "ARM", "type": "ARM",
......
config/objects.yaml
+ 5
− 0
View file @ 3c9e7346
...@@ -30,5 +30,10 @@ ...@@ -30,5 +30,10 @@
{ 'id': 'bigGreen4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } }, { 'id': 'bigGreen4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'bigGreen11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } }, { 'id': 'bigGreen11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1' } },
{ 'id': 'D','type': 'BIN','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } },
{ 'id': 'C','type': 'BIN','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } },
{ 'id': 'B','type': 'BIN','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } },
{ 'id': 'A','type': 'BIN','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } },
{ 'id': 'arm','type': 'ARM','orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } { 'id': 'arm','type': 'ARM','orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] } ] }
config/tags.yaml
+ 6
− 0
View file @ 3c9e7346
...@@ -79,5 +79,11 @@ tag_bundles: ...@@ -79,5 +79,11 @@ tag_bundles:
{ name: 'smallGreen71', layout: [ { id: 71, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] }, { name: 'smallGreen71', layout: [ { id: 71, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
{ name: 'bigGreen4', layout: [ { id: 4, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] }, { name: 'bigGreen4', layout: [ { id: 4, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
{ name: 'bigGreen11', layout: [ { id: 11, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] }, { name: 'bigGreen11', layout: [ { id: 11, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
{ name: 'A', layout: [ { id: 200, size: .052, x: 0.12, y: 0, z: 0.034, qw: 0.478, qx: 0.521, qy: 0.521, qz: 0.478 } ] },
{ name: 'B', layout: [ { id: 201, size: .052, x: 0.12, y: 0, z: 0.034, qw: 0.478, qx: 0.521, qy: 0.521, qz: 0.478 } ] },
{ name: 'C', layout: [ { id: 202, size: .052, x: 0.12, y: 0, z: 0.034, qw: 0.478, qx: 0.521, qy: 0.521, qz: 0.478 } ] },
{ name: 'D', layout: [ { id: 203, size: .052, x: 0.12, y: 0, z: 0.034, qw: 0.478, qx: 0.521, qy: 0.521, qz: 0.478 } ] },
] ]
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