From 3c9e734697678c39dc39c2bb6d164b02c4d06822 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 22 Feb 2023 17:45:17 +0100
Subject: [PATCH] add grey bins as detectable and remove from scene
---
.../config_scene_ceti-table-1-empty-grey.json | 88 -------------------
.../config_scene_ceti-table-1-empty-grey.yaml | 8 +-
config/objects.json | 88 +++++++++++++++++++
config/objects.yaml | 5 ++
config/tags.yaml | 6 ++
5 files changed, 103 insertions(+), 92 deletions(-)
diff --git a/config/config_scene_ceti-table-1-empty-grey.json b/config/config_scene_ceti-table-1-empty-grey.json
index 79cb6c2..1c7fc40 100644
--- a/config/config_scene_ceti-table-1-empty-grey.json
+++ b/config/config_scene_ceti-table-1-empty-grey.json
@@ -223,94 +223,6 @@
"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",
"type": "ARM",
diff --git a/config/config_scene_ceti-table-1-empty-grey.yaml b/config/config_scene_ceti-table-1-empty-grey.yaml
index 3a2feaa..6f8b371 100644
--- a/config/config_scene_ceti-table-1-empty-grey.yaml
+++ b/config/config_scene_ceti-table-1-empty-grey.yaml
@@ -29,10 +29,10 @@
# 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
# 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': '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': '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','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
diff --git a/config/objects.json b/config/objects.json
index d9b399d..ed214fe 100644
--- a/config/objects.json
+++ b/config/objects.json
@@ -365,6 +365,94 @@
"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",
diff --git a/config/objects.yaml b/config/objects.yaml
index 4106de7..f952be8 100644
--- a/config/objects.yaml
+++ b/config/objects.yaml
@@ -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': '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 } }
] }
diff --git a/config/tags.yaml b/config/tags.yaml
index ea70499..d610b36 100644
--- a/config/tags.yaml
+++ b/config/tags.yaml
@@ -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: '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: '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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