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Commit 836694ff authored by Johannes Mey's avatar Johannes Mey
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add new config for collab demo

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config/config_scene_ceti-table-placeworld.json 0 → 100644
+ 549
− 0
View file @ 836694ff
{
"objects": [
{
"id": "table1_wheel_1",
"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": "table1_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": "table1_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": "table1_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": "table1_body_front",
"pos": {
"x": 0.345,
"z": 0.5
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table1_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": "table1_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": "table1_body_right",
"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": "table1_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": "table1_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": "table1_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
}
},
{
"id": "shared_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": "table2_wheel_1",
"pos": {
"x": 0.28,
"y": 1.59,
"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": "table2_wheel_2",
"pos": {
"x": -0.28,
"y": 1.03,
"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": "table2_wheel_3",
"pos": {
"x": -0.28,
"y": 1.59,
"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": "table2_wheel_4",
"pos": {
"x": 0.28,
"y": 1.03,
"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": "table2_body_front",
"pos": {
"x": 0.345,
"y": 1.31,
"z": 0.5
},
"size": {
"length": 0.005,
"width": 0.69,
"height": 0.76
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table2_body_back",
"pos": {
"x": -0.345,
"y": 1.31,
"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": "table2_body_left",
"pos": {
"y": 1.655,
"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": "table2_body_right",
"pos": {
"y": 0.965,
"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": "table2_table_top",
"pos": {
"y": 1.31,
"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": "table2_front_panel",
"pos": {
"x": 0.6525,
"y": 1.31,
"z": 0.885
},
"size": {
"length": 0.5,
"width": 0.7,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "table2_right_panel",
"pos": {
"z": 0.885,
"y": 1.9625
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0.01
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "placeGreen",
"type": "DROP_OFF_LOCATION",
"pos": {
"z": 0.89,
"y": -0.6525
},
"size": {
"length": 0.7,
"width": 0.5,
"height": 0
},
"orientation": {
"w": 1
},
"color": {
"r": 0.15,
"g": 0.15,
"b": 0.15
}
},
{
"id": "bigBlue",
"type": "BOX",
"pos": {
"x": 0.1,
"y": -0.25,
"z": 0.9355
},
"size": {
"length": 0.0318,
"width": 0.0636,
"height": 0.091
},
"orientation": {
"w": 1
},
"color": {
"b": 1
}
},
{
"id": "arm1",
"type": "ARM",
"pos": {
"z": 0.89,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
},
{
"id": "arm2",
"type": "ARM",
"pos": {
"z": 0.89,
"x": -0.22
},
"size": {},
"orientation": {
"w": 1
},
"color": {
"r": 1,
"g": 1,
"b": 1
}
}
]
}
config/config_scene_ceti-table-placeworld.yaml 0 → 100644
+ 69
− 0
View file @ 836694ff
# create json file using
# yq eval -o=json config_scene_ceti-table-placeworld.yaml > config_scene_ceti-table-placeworld.json
{ 'objects': [
# table
# height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
# wheels width/depth/height 12*12*12
# body width/depth/height 69*69*76
# table-top width/depth/height 80*80*1
# 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
# 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': 'table1_wheel_1', '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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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': 'table1_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 } },
{ 'id': 'shared_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 } },
# table 2 is shifted in y direction by the size of the base, the size of a side panel and two 5mm spaces:
# 0.8 + 0.5 + 2*0.05 = 1.31
{ 'id': 'table2_wheel_1', 'pos': { 'x': 0.28,'y': 1.59,'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': 'table2_wheel_2', 'pos': { 'x': -0.28,'y': 1.03,'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': 'table2_wheel_3', 'pos': { 'x': -0.28,'y': 1.59,'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': 'table2_wheel_4', 'pos': { 'x': 0.28,'y': 1.03,'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': 'table2_body_front', 'pos': { 'x': .345, y: 1.31, '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': 'table2_body_back', 'pos': { 'x': -.345, y: 1.31, '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': 'table2_body_left', 'pos': { 'y': 1.655, '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': 'table2_body_right', 'pos': { 'y': 0.965, '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': 'table2_table_top', 'pos': { 'y': 1.31, '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': 'table2_front_panel', 'pos': { 'x': 0.6525, 'y': 1.31, 'z': 0.885 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table2_right_panel', 'pos': { 'z': 0.885, 'y': 1.9625 },'size': { 'length': 0.7,'width': 0.5,'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
# 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': 'placeBlue', 'type': 'DROP_OFF_LOCATION','pos': { 'x': 0.1,'y': 0.3,'z': 0.89 },'size': { 'length': 0.0,'width': 0.0,'height': 0.0 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
# { 'id': 'placeRed', 'type': 'DROP_OFF_LOCATION','pos': { 'x': 0.2,'y': 0.3,'z': 0.89 },'size': { 'length': 0.0,'width': 0.0,'height': 0.0 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
# { 'id': 'placeGreen', 'type': 'DROP_OFF_LOCATION','pos': { 'x': 0.0,'y': 0.5,'z': 0.89 },'size': { 'length': 0.0,'width': 0.0,'height': 0.0 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
{ 'id': 'placeGreen', 'type': 'DROP_OFF_LOCATION', 'pos': { 'z': 0.89, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.0 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
# { 'id': 'placeGreen','type': 'DROP_OFF_LOCATION','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': 'bigYellow','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': 'bigGreen','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': 'bigBlue','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': 'smallBlue','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': 'smallYellow','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': 'smallRed','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': 'arm1','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','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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