diff --git a/config/config_scene_ceti-table.json b/config/config_scene_ceti-table.json index 597f6fa8724b33d5dc9fc70bcc2b55bbb17b432b..0153a59159800342ea2897212f6f5cd2bee3676c 100644 --- a/config/config_scene_ceti-table.json +++ b/config/config_scene_ceti-table.json @@ -85,13 +85,74 @@ } }, { - "id": "table_body", + "id": "table_body_front", "pos": { + "x": 0.345, "z": 0.5 }, "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, + "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 }, "orientation": { @@ -163,7 +224,7 @@ } }, { - "id": "ffront_panel", + "id": "front_panel", "pos": { "z": 0.885, "x": 0.6525 @@ -243,130 +304,126 @@ } }, { - "id": "object4x2x1.5", + "id": "object4x2x5.0_Y", "type": "BOX", "pos": { - "x": 0.3, - "y": -0.3, - "z": 0.9067 + "x": 0.2, + "y": 0.05, + "z": 0.9403 }, "size": { "length": 0.0318, "width": 0.0636, - "height": 0.0334 + "height": 0.1006 }, "orientation": { "w": 1 }, - "color": {} - }, - { - "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": {} + "color": { + "r": 1, + "g": 1 + } }, { - "id": "object4x2x2.5", + "id": "object4x2x4.5_G", "type": "BOX", "pos": { "x": 0.3, - "y": -0.1, - "z": 0.9163 + "y": 0.3, + "z": 0.9355 }, "size": { "length": 0.0318, "width": 0.0636, - "height": 0.0526 + "height": 0.091 }, "orientation": { "w": 1 }, - "color": {} + "color": { + "g": 1 + } }, { - "id": "object4x2x3.0", + "id": "object4x2x4.5_B", "type": "BOX", "pos": { - "x": 0.3, - "y": 0, - "z": 0.9211 + "x": 0.1, + "y": -0.25, + "z": 0.9355 }, "size": { "length": 0.0318, "width": 0.0636, - "height": 0.0622 + "height": 0.091 }, "orientation": { "w": 1 }, - "color": {} + "color": { + "b": 1 + } }, { - "id": "object4x2x3.5", + "id": "object2x2x4.0_b", "type": "BOX", "pos": { - "x": 0.3, - "y": 0.1, - "z": 0.9259 + "x": 0.1, + "y": 0.2, + "z": 0.9307 }, "size": { "length": 0.0318, - "width": 0.0636, - "height": 0.0718 + "width": 0.0318, + "height": 0.0814 }, "orientation": { "w": 1 }, - "color": {} + "color": { + "b": 1 + } }, { - "id": "object4x2x4.0", + "id": "object2x2x4.0_y", "type": "BOX", "pos": { "x": 0.3, - "y": 0.2, + "y": -0.2, "z": 0.9307 }, "size": { "length": 0.0318, - "width": 0.0636, + "width": 0.0318, "height": 0.0814 }, "orientation": { "w": 1 }, - "color": {} + "color": { + "r": 1, + "g": 1 + } }, { - "id": "object4x2x4.5", + "id": "object2x2x4.0_r", "type": "BOX", "pos": { - "x": 0.3, - "y": 0.3, - "z": 0.9355 + "x": 0.15, + "y": -0.15, + "z": 0.9307 }, "size": { "length": 0.0318, - "width": 0.0636, - "height": 0.091 + "width": 0.0318, + "height": 0.0814 }, "orientation": { "w": 1 }, - "color": {} + "color": { + "r": 1 + } }, { "id": "arm", diff --git a/config/config_scene_ceti-table.yaml b/config/config_scene_ceti-table.yaml index 99d579a4abefcfe6452a26292d03eb5aeacb566a..3048dc298f4e68716021dc099db50e549df2f1e9 100644 --- a/config/config_scene_ceti-table.yaml +++ b/config/config_scene_ceti-table.yaml @@ -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_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': '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': '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': '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 # their height is 89 + 7.75 = 0.9675 m @@ -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': '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): # formula: half-height * 9.6 + 4.6 # 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)); - { '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 } } ] }