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Commit 3e24e87e authored by Johannes Mey's avatar Johannes Mey
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update config and launch files

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config/config_scene_ads-table.json 0 → 100644
+ 386
− 0
View file @ 3e24e87e
{
"objects": [
{
"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": "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": "binBlue",
"type": "BIN",
"pos": {
"x": 0.19,
"y": -0.6,
"z": 0.772
},
"size": {
"length": 0.2,
"width": 0.28,
"height": 0.14
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "binRed",
"type": "BIN",
"pos": {
"x": -0.23,
"y": -0.4,
"z": 0.772
},
"size": {
"length": 0.2,
"width": 0.28,
"height": 0.14
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "binGreen",
"type": "BIN",
"pos": {
"x": -0.02,
"y": -0.5,
"z": 0.772
},
"size": {
"length": 0.2,
"width": 0.28,
"height": 0.14
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "bigYellow",
"type": "BOX",
"pos": {
"x": 0.15,
"y": 0.4,
"z": 0.7331
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0622
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "bigRed",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0,
"z": 0.7427
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "bigGreen",
"type": "BOX",
"pos": {
"x": 0.15,
"y": 0,
"z": 0.7475
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "bigBlue",
"type": "BOX",
"pos": {
"x": -0.05,
"y": 0.4,
"z": 0.7475
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "smallYellow",
"type": "BOX",
"pos": {
"x": 0.15,
"y": -0.2,
"z": 0.7427
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "smallBlue",
"type": "BOX",
"pos": {
"x": 0.15,
"y": 0.2,
"z": 0.7427
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "arm",
"type": "ARM",
"pos": {
"z": 0.702,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_ads-table.yaml 0 → 100644
+ 44
− 0
View file @ 3e24e87e
# create json file using
# yq eval -o=json config_scene_ads-table.yaml > config_scene_ads-table.json
{ 'objects': [
# table
# height: 63.4 (legs) + 6.8 (top) = 70.2 cm total
# legs width/depth/height 4x4x63.4
# table-top width/depth/height 170x89.2x6.8 (169.9 too fuzzy to model)
# 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_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': '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 } },
# 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': '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} },
# 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': 'arm','type': 'ARM','pos': { 'z': 0.702 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
config/config_scene_ads.yaml deleted 100644 → 0
+ 0
− 19
View file @ 7ddaac69
{ 'objects': [
{ 'id': 'tablePillar1','pos': { 'x': 0.625,'y': 0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar2','pos': { 'x': -0.215,'y': -0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar3','pos': { 'x': -0.215,'y': 0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar4','pos': { 'x': 0.625,'y': -0.82,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'table','pos': { 'x' : 0.205 ,'z': 0.7 },'size': { 'length': 0.9,'width': 1.7,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'binBlue','type': 'BIN','pos': { 'x': 0.34,'y': -0.65,'z': 0.8325 },'size': { 'length': 0.2,'width': 0.3,'height': 0.15 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': -0.65,'z': 0.8325 },'size': { 'length': 0.2,'width': 0.3,'height': 0.15 },'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': 0.0, 'y' : 0.5,'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': 0.1,'y': 0.6,'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': 0.45,'y': 0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'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': 0.4,'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 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
config/config_scene_ceti-table.json
+ 1
− 1
View file @ 3e24e87e
......@@ -300,7 +300,7 @@
"w": 1
},
"color": {
"r": 1
"g": 1
}
},
{
......
config/config_scene_ceti-table.yaml
+ 1
− 1
View file @ 3e24e87e
......@@ -31,7 +31,7 @@
# 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': { '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': '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} },
......
config/config_scene_st-table.json 0 → 100644
+ 430
− 0
View file @ 3e24e87e
{
"objects": [
{
"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": "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": "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": "binBlue",
"type": "BIN",
"pos": {
"x": -0,
"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": "object4x2x4.5_r",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.3,
"z": 0.7615
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "object4x2x5.0_y",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0,
"z": 0.7663
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "object4x2x5.0_b",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.1,
"z": 0.7663
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "object4x2x5.0_g",
"type": "BOX",
"pos": {
"x": 0.3,
"y": 0.2,
"z": 0.7663
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.1006
},
"orientation": {
"w": 1
},
"color": {
"g": 1
}
},
{
"id": "object2x2x4.0_r",
"type": "BOX",
"pos": {
"x": 0.5,
"y": -0.1,
"z": 0.7567
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1
}
},
{
"id": "object2x2x4.0_y",
"type": "BOX",
"pos": {
"x": 0.5,
"y": 0,
"z": 0.7567
},
"size": {
"length": 0.0318,
"width": 0.0318,
"height": 0.0814
},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1
}
},
{
"id": "arm",
"type": "ARM",
"pos": {
"z": 0.716
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_st-table.yaml 0 → 100644
+ 43
− 0
View file @ 3e24e87e
# create json file using
# yq eval -o=json config_scene_st-table.yaml > config_scene_st-table.json
{ '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_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 } },
# 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 } },
# 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 } },
# 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 } },
# 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': '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} },
{ 'id': 'arm','type': 'ARM','pos': { 'z': 0.716 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
\ No newline at end of file
config/config_scene_st.yaml deleted 100644 → 0
+ 0
− 19
View file @ 7ddaac69
{ 'objects': [
{ 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'table','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
{ 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'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': 0.06,'y': 0.49,'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': -0.4,'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': -0.45,'y': -0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'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': 0.4,'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 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
launch/ads-table_robot_main.launch 0 → 100644
+ 19
− 0
View file @ 3e24e87e
<launch>
<arg name="robot_ip" default="172.31.1.13" />
<!-- <arg name="robot_ip" default="172.16.0.2" />-->
<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)" />
<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>
</launch>
launch/st-table_robot_main.launch 0 → 100644
+ 19
− 0
View file @ 3e24e87e
<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="[]" />
<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>
</launch>
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