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Commit 7ddaac69 authored by Johannes Mey's avatar Johannes Mey
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update ceti table

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config/config_scene_ceti-table.json
+ 113
− 56
View file @ 7ddaac69
...@@ -85,13 +85,74 @@ ...@@ -85,13 +85,74 @@
} }
}, },
{ {
"id": "table_body", "id": "table_body_front",
"pos": { "pos": {
"x": 0.345,
"z": 0.5 "z": 0.5
}, },
"size": { "size": {
"length": 0.69, "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": -0.345,
"z": 0.45
},
"size": {
"length": 0.005,
"width": 0.69, "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": 0.345,
"z": 0.5
},
"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": -0.345,
"z": 0.5
},
"size": {
"length": 0.69,
"width": 0.005,
"height": 0.76 "height": 0.76
}, },
"orientation": { "orientation": {
...@@ -163,7 +224,7 @@ ...@@ -163,7 +224,7 @@
} }
}, },
{ {
"id": "ffront_panel", "id": "front_panel",
"pos": { "pos": {
"z": 0.885, "z": 0.885,
"x": 0.6525 "x": 0.6525
...@@ -243,130 +304,126 @@ ...@@ -243,130 +304,126 @@
} }
}, },
{ {
"id": "object4x2x1.5", "id": "object4x2x5.0_Y",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.2,
"y": -0.3, "y": 0.05,
"z": 0.9067 "z": 0.9403
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0636,
"height": 0.0334 "height": 0.1006
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
}, "r": 1,
{ "g": 1
"id": "object4x2x2.0", }
"type": "BOX",
"pos": {
"x": 0.3,
"y": -0.2,
"z": 0.9115
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.043
},
"orientation": {
"w": 1
},
"color": {}
}, },
{ {
"id": "object4x2x2.5", "id": "object4x2x4.5_G",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.3,
"y": -0.1, "y": 0.3,
"z": 0.9163 "z": 0.9355
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0636,
"height": 0.0526 "height": 0.091
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
"g": 1
}
}, },
{ {
"id": "object4x2x3.0", "id": "object4x2x4.5_B",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.1,
"y": 0, "y": -0.25,
"z": 0.9211 "z": 0.9355
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0636,
"height": 0.0622 "height": 0.091
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
"b": 1
}
}, },
{ {
"id": "object4x2x3.5", "id": "object2x2x4.0_b",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.1,
"y": 0.1, "y": 0.2,
"z": 0.9259 "z": 0.9307
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0318,
"height": 0.0718 "height": 0.0814
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
"b": 1
}
}, },
{ {
"id": "object4x2x4.0", "id": "object2x2x4.0_y",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.3,
"y": 0.2, "y": -0.2,
"z": 0.9307 "z": 0.9307
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0318,
"height": 0.0814 "height": 0.0814
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
"r": 1,
"g": 1
}
}, },
{ {
"id": "object4x2x4.5", "id": "object2x2x4.0_r",
"type": "BOX", "type": "BOX",
"pos": { "pos": {
"x": 0.3, "x": 0.15,
"y": 0.3, "y": -0.15,
"z": 0.9355 "z": 0.9307
}, },
"size": { "size": {
"length": 0.0318, "length": 0.0318,
"width": 0.0636, "width": 0.0318,
"height": 0.091 "height": 0.0814
}, },
"orientation": { "orientation": {
"w": 1 "w": 1
}, },
"color": {} "color": {
"r": 1
}
}, },
{ {
"id": "arm", "id": "arm",
......
config/config_scene_ceti-table.yaml
+ 16
− 9
View file @ 7ddaac69
...@@ -13,11 +13,16 @@ ...@@ -13,11 +13,16 @@
{ '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_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_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_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': '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 } }, # 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_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_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': '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': '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': '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': 'ffront_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': '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 # bins width/depth/height 28.5*19*15.5
# their height is 89 + 7.75 = 0.9675 m # their height is 89 + 7.75 = 0.9675 m
...@@ -28,17 +33,19 @@ ...@@ -28,17 +33,19 @@
{ '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': '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': { 'r': 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': '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): # heights of objects (including pins):
# formula: half-height * 9.6 + 4.6 # formula: half-height * 9.6 + 4.6
# formula (python) # formula (python)
# 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+8900)/10000, (i*96+46)/10000)); # 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+8900)/10000, (i*96+46)/10000));
{ 'id': 'object4x2x1.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.300000,'z': 0.906700 },'size': { 'length': .0318, 'width': .0636,'height': 0.033400 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x2.0','type': 'BOX','pos': { 'x': 0.3,'y': -0.200000,'z': 0.911500 },'size': { 'length': .0318, 'width': .0636,'height': 0.043000 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x2.5','type': 'BOX','pos': { 'x': 0.3,'y': -0.100000,'z': 0.916300 },'size': { 'length': .0318, 'width': .0636,'height': 0.052600 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x3.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.000000,'z': 0.921100 },'size': { 'length': .0318, 'width': .0636,'height': 0.062200 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x3.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.100000,'z': 0.925900 },'size': { 'length': .0318, 'width': .0636,'height': 0.071800 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x4.0','type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.930700 },'size': { 'length': .0318, 'width': .0636,'height': 0.081400 },'orientation': { 'w': 1 },'color': {} },
{ 'id': 'object4x2x4.5','type': 'BOX','pos': { 'x': 0.3,'y': 0.300000,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': {} },
{ '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 } }
] } ] }
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