diff --git a/config/config_scene_ga_st-table-1.json b/config/config_scene_ga_st-table-1.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a0b0006bfd586112dd55d8301eab170ea6e54f
--- /dev/null
+++ b/config/config_scene_ga_st-table-1.json
@@ -0,0 +1,444 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "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": "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": "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": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0.05,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.25,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_st-table-1.yaml b/config/config_scene_ga_st-table-1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9e84feb294313ac5731bb94693378e65acf1bde2
--- /dev/null
+++ b/config/config_scene_ga_st-table-1.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': '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
+ # 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': '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': { 'g': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'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': '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/config_scene_ga_st-table-2.json b/config/config_scene_ga_st-table-2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d643dcf98412fe89b5578944daabe72c854777b9
--- /dev/null
+++ b/config/config_scene_ga_st-table-2.json
@@ -0,0 +1,444 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "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": "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": "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": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0.05,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.25,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_st-table-2.yaml b/config/config_scene_ga_st-table-2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..697075e5aebae4513007d314e8cfe989660013e4
--- /dev/null
+++ b/config/config_scene_ga_st-table-2.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': '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
+ # 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': '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': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'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': '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/config_scene_ga_st-table-3.json b/config/config_scene_ga_st-table-3.json
new file mode 100644
index 0000000000000000000000000000000000000000..3560ff86233d68e211a21f781e6e3f93b54da1ce
--- /dev/null
+++ b/config/config_scene_ga_st-table-3.json
@@ -0,0 +1,444 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "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": "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": "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": {
+ "g": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0.05,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.25,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_st-table-3.yaml b/config/config_scene_ga_st-table-3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bbc1b762bff648b69e03f3946022da87a01fcb8e
--- /dev/null
+++ b/config/config_scene_ga_st-table-3.yaml
@@ -0,0 +1,51 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': '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
+ # 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': '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': { 'g': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.10,'y': -0.25,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'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': '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/config_scene_ga_tum-table-1-left.json b/config/config_scene_ga_tum-table-1-left.json
new file mode 100644
index 0000000000000000000000000000000000000000..7781ca42c7f4a2d6098585263d6835643dd54a95
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-left.json
@@ -0,0 +1,385 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.966,
+ "width": 1.011,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.355,
+ "y": -0.365,
+ "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": -0.155,
+ "y": -0.365,
+ "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": 0.045,
+ "y": -0.365,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.15,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": 0.45,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.2,
+ "y": 0.24
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_tum-table-1-left.yaml b/config/config_scene_ga_tum-table-1-left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1368b872bceb1456f3a6b25d15ec7db9aac4e9ea
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-left.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': 0.966,'width': 1.011,'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': 'binBlue', 'type': 'BIN','pos': { 'x': -0.355,'y': -0.365,'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': -0.155,'y': -0.365,'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': 0.045,'y': -0.365,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.20,'y': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': 0.45,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : 0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_tum-table-1-right.json b/config/config_scene_ga_tum-table-1-right.json
new file mode 100644
index 0000000000000000000000000000000000000000..316692b9bf8265cf4892d27a886aba0bb973c75c
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-right.json
@@ -0,0 +1,385 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.966,
+ "width": 1.011,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.355,
+ "y": 0.365,
+ "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": -0.155,
+ "y": 0.365,
+ "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": 0.045,
+ "y": 0.365,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.15,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.45,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.2,
+ "y": -0.24
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_tum-table-1-right.yaml b/config/config_scene_ga_tum-table-1-right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7f55b6aa9b315811e576ff3dceddcaab57e0eb67
--- /dev/null
+++ b/config/config_scene_ga_tum-table-1-right.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': 0.966,'width': 1.011,'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': 'binBlue', 'type': 'BIN','pos': { 'x': -0.355,'y': 0.365,'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': -0.155,'y': 0.365,'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': 0.045,'y': 0.365,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': -0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': -0.45,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : -0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_tum-table-2-left.json b/config/config_scene_ga_tum-table-2-left.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce466cecda7de8d3d2608de2bd0da3f4caba6ee
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-left.json
@@ -0,0 +1,385 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.966,
+ "width": 1.011,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.355,
+ "y": -0.365,
+ "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": -0.155,
+ "y": -0.365,
+ "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": 0.045,
+ "y": -0.365,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.15,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": 0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": 0.45,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.2,
+ "y": 0.24
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_tum-table-2-left.yaml b/config/config_scene_ga_tum-table-2-left.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c8024292938f24174451ef0bc148cb209fc1d773
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-left.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': 0.966,'width': 1.011,'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': 'binBlue', 'type': 'BIN','pos': { 'x': -0.355,'y': -0.365,'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': -0.155,'y': -0.365,'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': 0.045,'y': -0.365,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue1','type': 'BOX','pos': { 'x': 0.20,'y': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y': 0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.15,'y': 0.45,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : 0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_ga_tum-table-2-right.json b/config/config_scene_ga_tum-table-2-right.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc543870826b7b2e47a2e070204689d567ea2234
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-right.json
@@ -0,0 +1,385 @@
+{
+ "objects": [
+ {
+ "id": "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": "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_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": "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": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.966,
+ "width": 1.011,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.355,
+ "y": 0.365,
+ "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": -0.155,
+ "y": 0.365,
+ "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": 0.045,
+ "y": 0.365,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "red1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "green1",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "blue2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.15,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "green2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "red2",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.45,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.07,
+ "width": 0.044,
+ "height": 0.055
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.2,
+ "y": -0.24
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_ga_tum-table-2-right.yaml b/config/config_scene_ga_tum-table-2-right.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9beca3745cc4d44e19c9d11385b6a5d1d7ecc96c
--- /dev/null
+++ b/config/config_scene_ga_tum-table-2-right.yaml
@@ -0,0 +1,48 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.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
+ { 'id': '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': '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 } },
+ # 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': 0.966,'width': 1.011,'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': 'binBlue', 'type': 'BIN','pos': { 'x': -0.355,'y': 0.365,'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': -0.155,'y': 0.365,'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': 0.045,'y': 0.365,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'red1','type': 'BOX','pos': { 'x': 0.20,'y': 0.0,'z': 0.940300 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { 'id': 'green1','type': 'BOX','pos': { 'x': 0.30,'y': -0.30,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'blue2','type': 'BOX','pos': { 'x': 0.30,'y': -0.15,'z': 0.935500 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.10,'y': -0.20,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ { 'id': 'green2','type': 'BOX','pos': { 'x': 0.30,'y': 0.15,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+ { 'id': 'red2','type': 'BOX','pos': { 'x': 0.15,'y': -0.45,'z': 0.930700 },'size': { 'length': 0.07,'width': 0.044,'height': 0.055 },'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': 'arm','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.20 , 'y' : -0.24 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+] }
diff --git a/config/config_scene_virtual-table.json b/config/config_scene_virtual-table.json
index 1025e7798a3095c15c9fa6faadb38df1c5e26062..fb199563d215c598d883a481edcaa8eb834d759b 100644
--- a/config/config_scene_virtual-table.json
+++ b/config/config_scene_virtual-table.json
@@ -80,7 +80,7 @@
}
},
{
- "id": "bigBlue",
+ "id": "blue1",
"type": "BOX",
"pos": {
"x": 0.2,
@@ -89,8 +89,8 @@
},
"size": {
"length": 0.1,
- "width": 0.16,
- "height": 0.16
+ "width": 0.08,
+ "height": 0.08
},
"orientation": {
"w": 1
@@ -100,7 +100,7 @@
}
},
{
- "id": "bigGreen",
+ "id": "blue2",
"type": "BOX",
"pos": {
"x": 0.2,
@@ -109,18 +109,18 @@
},
"size": {
"length": 0.1,
- "width": 0.16,
- "height": 0.16
+ "width": 0.08,
+ "height": 0.08
},
"orientation": {
"w": 1
},
"color": {
- "g": 0.5
+ "b": 0.5
}
},
{
- "id": "bigRed",
+ "id": "green1",
"type": "BOX",
"pos": {
"x": 0.2,
@@ -129,39 +129,18 @@
},
"size": {
"length": 0.1,
- "width": 0.16,
- "height": 0.16
- },
- "orientation": {
- "w": 1
- },
- "color": {
- "r": 0.5
- }
- },
- {
- "id": "bigYellow",
- "type": "BOX",
- "pos": {
- "x": 0.2,
- "y": 0.3,
- "z": 0.58
- },
- "size": {
- "length": 0.1,
- "width": 0.16,
- "height": 0.16
+ "width": 0.08,
+ "height": 0.08
},
"orientation": {
"w": 1
},
"color": {
- "r": 0.5,
"g": 0.5
}
},
{
- "id": "smallBlue",
+ "id": "green2",
"type": "BOX",
"pos": {
"x": 0.4,
@@ -177,11 +156,11 @@
"w": 1
},
"color": {
- "b": 0.5
+ "g": 0.5
}
},
{
- "id": "smallGreen",
+ "id": "red1",
"type": "BOX",
"pos": {
"x": 0.4,
@@ -197,11 +176,11 @@
"w": 1
},
"color": {
- "g": 0.5
+ "r": 0.5
}
},
{
- "id": "smallRed",
+ "id": "red2",
"type": "BOX",
"pos": {
"x": 0.4,
@@ -220,27 +199,6 @@
"r": 0.5
}
},
- {
- "id": "smallYellow",
- "type": "BOX",
- "pos": {
- "x": 0.4,
- "y": 0.4,
- "z": 0.54
- },
- "size": {
- "length": 0.1,
- "width": 0.08,
- "height": 0.08
- },
- "orientation": {
- "w": 1
- },
- "color": {
- "r": 0.5,
- "g": 0.5
- }
- },
{
"id": "arm",
"type": "ARM",
diff --git a/config/config_scene_virtual-table.yaml b/config/config_scene_virtual-table.yaml
index 642d9e21d345c32356eb33f022020e9ff908ad21..46c79aca913556fe2815704f31db5463aaca8d67 100644
--- a/config/config_scene_virtual-table.yaml
+++ b/config/config_scene_virtual-table.yaml
@@ -11,15 +11,14 @@
{ 'id': 'binGreen', 'type': 'BIN','pos': { 'x': -0.35,'y': 0,'z': 0.65 },'size': { 'length': 0.20,'width': 0.4,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
{ 'id': 'binRed','type': 'BIN','pos': { 'x': -0.35,'y': 0.60,'z': 0.65 },'size': { 'length': 0.20,'width': 0.4,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
- { 'id': 'bigBlue', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.300000,'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
- { 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.100000,'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
- { 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.2,'y': 0.100000, 'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
- { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.2,'y': 0.300000, 'z': 0.58 },'size': { 'length': .1, 'width': .16,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.5, 'g': 0.5 } },
-
- { 'id': 'smallBlue', 'type': 'BOX','pos': { 'x': 0.4,'y': -0.200000,'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
- { 'id': 'smallGreen', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.000000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
- { 'id': 'smallRed', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.200000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
- { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.4,'y': 0.400000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5, 'g': 0.5 } },
+ { 'id': 'blue1', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.300000,'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
+ { 'id': 'blue2', 'type': 'BOX','pos': { 'x': 0.2,'y': -0.100000,'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.5 } },
+
+ { 'id': 'green1', 'type': 'BOX','pos': { 'x': 0.2,'y': 0.100000, 'z': 0.58 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
+ { 'id': 'green2', 'type': 'BOX','pos': { 'x': 0.4,'y': -0.200000,'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.5 } },
+
+ { 'id': 'red1', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.000000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
+ { 'id': 'red2', 'type': 'BOX','pos': { 'x': 0.4,'y': 0.200000, 'z': 0.54 },'size': { 'length': .1, 'width': .08,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.5 } },
{ 'id': 'arm','type': 'ARM','pos': { },'size': { },'orientation': { 'w': 1 },'color': { } }
] }
diff --git a/config_scene_virtual-table.json b/config_scene_virtual-table.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2edbf3c72b7acabee08ce9ee11a85375f84e8e
--- /dev/null
+++ b/config_scene_virtual-table.json
@@ -0,0 +1,54 @@
+Usage:
+ yq eval [expression] [yaml_file1]... [flags]
+
+Aliases:
+ eval, e
+
+Examples:
+
+# Reads field under the given path for each file
+yq e '.a.b' f1.yml f2.yml
+
+# Prints out the file
+yq e sample.yaml
+
+# Pipe from STDIN
+## use '-' as a filename to pipe from STDIN
+cat file2.yml | yq e '.a.b' file1.yml - file3.yml
+
+# Creates a new yaml document
+## Note that editing an empty file does not work.
+yq e -n '.a.b.c = "cat"'
+
+# Update a file inplace
+yq e '.a.b = "cool"' -i file.yaml
+
+
+Flags:
+ -h, --help help for eval
+
+Global Flags:
+ -C, --colors force print with colors
+ -e, --exit-status set exit status if there are no matches or null or false is returned
+ --expression string forcibly set the expression argument. Useful when yq argument detection thinks your expression is a file.
+ --from-file string Load expression from specified file.
+ -f, --front-matter string (extract|process) first input as yaml front-matter. Extract will pull out the yaml content, process will run the expression against the yaml content, leaving the remaining data intact
+ --header-preprocess Slurp any header comments and separators before processing expression. (default true)
+ -I, --indent int sets indent level for output (default 2)
+ -i, --inplace update the file inplace of first file given.
+ -p, --input-format string [yaml|y|props|p|xml|x] parse format for input. Note that json is a subset of yaml. (default "yaml")
+ -M, --no-colors force print with no colors
+ -N, --no-doc Don't print document separators (---)
+ -n, --null-input Don't read input, simply evaluate the expression given. Useful for creating docs from scratch.
+ -o, --output-format string [yaml|y|json|j|props|p|xml|x] output format type. (default "yaml")
+ -P, --prettyPrint pretty print, shorthand for '... style = ""'
+ -s, --split-exp string print each result (or doc) into a file named (exp). [exp] argument must return a string. You can use $index in the expression as the result counter.
+ --split-exp-file string Use a file to specify the split-exp expression.
+ -r, --unwrapScalar unwrap scalar, print the value with no quotes, colors or comments (default true)
+ -v, --verbose verbose mode
+ --xml-attribute-prefix string prefix for xml attributes (default "+")
+ --xml-content-name string name for xml content (if no attribute name is present). (default "+content")
+ --xml-keep-namespace enables keeping namespace after parsing attributes (default true)
+ --xml-raw-token enables using RawToken method instead Token. Commonly disables namespace translations. See https://pkg.go.dev/encoding/xml#Decoder.RawToken for details. (default true)
+ --xml-strict-mode enables strict parsing of XML. See https://pkg.go.dev/encoding/xml for more details.
+
diff --git a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
index 4690e772f49937885c2c59696b986b23f4ab84e9..c21e54458662f27351a7f50ad477fcc6adbf8785 100644
--- a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
+++ b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
- <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
<include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
diff --git a/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
index 05057aa822f90bba8f760089e4aff3fa543679f3..05ab91b5b4ae70595b0bf69de8f159ddbefc154a 100644
--- a/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
+++ b/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
@@ -2,7 +2,7 @@
<arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
<arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
- <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
<arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
<include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
diff --git a/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..28ab8a6f5eb5d6a3fc41fb13055c81afa93d9d2c
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+ <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-3.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..99b1bf46b04b4bc528787597ed44c75faf20cf85
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+ <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-4.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..13d978ffb484abed95b4f53868d9e61bc1090ee3
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+ <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-5.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..42e32f629d74b3824448c80f86639edf32b5264d
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+ <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-6.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ef91852b661d02f5d847c029473c19f125420010
--- /dev/null
+++ b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
+ <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
+ <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+ <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
+
+ <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-7.launch" pass_all_args="true"/>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-1.launch b/launch/robot-cell_ceti-table-1.launch
index 2737a462d4f2ee33bf103bc7b66c5921238cdbb0..fd1a10272da35cbcbdbf0356dd39469726e8c3aa 100644
--- a/launch/robot-cell_ceti-table-1.launch
+++ b/launch/robot-cell_ceti-table-1.launch
@@ -13,7 +13,7 @@
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-1.json"/>
</node>
</launch>
diff --git a/launch/robot-cell_ceti-table-2.launch b/launch/robot-cell_ceti-table-2.launch
index 6221ee3deece7e54bddcf8897ac4b3e81b73dd2b..8ba3adfbeb56bb7664d4bc6369279d2c169bf4c4 100644
--- a/launch/robot-cell_ceti-table-2.launch
+++ b/launch/robot-cell_ceti-table-2.launch
@@ -13,7 +13,7 @@
<node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
<param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
- <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-2.json"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-2.json"/>
</node>
</launch>
diff --git a/launch/robot-cell_ceti-table-3.launch b/launch/robot-cell_ceti-table-3.launch
new file mode 100644
index 0000000000000000000000000000000000000000..0d5fa0ac723d314828b65beb222cff3fc8cb2782
--- /dev/null
+++ b/launch/robot-cell_ceti-table-3.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_3" output="screen">
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-3.json"/>
+ </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-4.launch b/launch/robot-cell_ceti-table-4.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e587ff2d719f3e0e480f0ddd551349d197eedc7e
--- /dev/null
+++ b/launch/robot-cell_ceti-table-4.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_4" output="screen">
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-left.json"/>
+ </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-5.launch b/launch/robot-cell_ceti-table-5.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a7e8852e82fbf0cf937737ffd7de5a293eb751e9
--- /dev/null
+++ b/launch/robot-cell_ceti-table-5.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_5" output="screen">
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-right.json"/>
+ </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-6.launch b/launch/robot-cell_ceti-table-6.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e8919ed51062b09c912c51281882f99e94e8cdf5
--- /dev/null
+++ b/launch/robot-cell_ceti-table-6.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_6" output="screen">
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-2-left.json"/>
+ </node>
+
+</launch>
diff --git a/launch/robot-cell_ceti-table-7.launch b/launch/robot-cell_ceti-table-7.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c6d572a4ca25ab1c88be480ff32163d4db92c629
--- /dev/null
+++ b/launch/robot-cell_ceti-table-7.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_7" output="screen">
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-2-right.json"/>
+ </node>
+
+</launch>