From a3aee9382d261e09ba0957d29d6aa5416f3b366c Mon Sep 17 00:00:00 2001 From: SebastianEbert <sebastian.ebert@tu-dresden.de> Date: Thu, 22 Sep 2022 18:40:04 +0200 Subject: [PATCH] launch files / configs for ga demo --- config/config_scene_ga_st-table-1.json | 444 ++++++++++++++++++ config/config_scene_ga_st-table-1.yaml | 51 ++ config/config_scene_ga_st-table-2.json | 444 ++++++++++++++++++ config/config_scene_ga_st-table-2.yaml | 51 ++ config/config_scene_ga_st-table-3.json | 444 ++++++++++++++++++ config/config_scene_ga_st-table-3.yaml | 51 ++ config/config_scene_ga_tum-table-1-left.json | 385 +++++++++++++++ config/config_scene_ga_tum-table-1-left.yaml | 48 ++ config/config_scene_ga_tum-table-1-right.json | 385 +++++++++++++++ config/config_scene_ga_tum-table-1-right.yaml | 48 ++ config/config_scene_ga_tum-table-2-left.json | 385 +++++++++++++++ config/config_scene_ga_tum-table-2-left.yaml | 48 ++ config/config_scene_ga_tum-table-2-right.json | 385 +++++++++++++++ config/config_scene_ga_tum-table-2-right.yaml | 48 ++ config/config_scene_virtual-table.json | 72 +-- config/config_scene_virtual-table.yaml | 17 +- config_scene_virtual-table.json | 54 +++ ...ual_preview_ceti-table-1_real_robot.launch | 2 +- ...ual_preview_ceti-table-2_real_robot.launch | 2 +- ...ual_preview_ceti-table-3_real_robot.launch | 12 + ...ual_preview_ceti-table-4_real_robot.launch | 12 + ...ual_preview_ceti-table-5_real_robot.launch | 12 + ...ual_preview_ceti-table-6_real_robot.launch | 12 + ...ual_preview_ceti-table-7_real_robot.launch | 12 + launch/robot-cell_ceti-table-1.launch | 2 +- launch/robot-cell_ceti-table-2.launch | 2 +- launch/robot-cell_ceti-table-3.launch | 19 + launch/robot-cell_ceti-table-4.launch | 19 + launch/robot-cell_ceti-table-5.launch | 19 + launch/robot-cell_ceti-table-6.launch | 19 + launch/robot-cell_ceti-table-7.launch | 19 + 31 files changed, 3453 insertions(+), 70 deletions(-) create mode 100644 config/config_scene_ga_st-table-1.json create mode 100644 config/config_scene_ga_st-table-1.yaml create mode 100644 config/config_scene_ga_st-table-2.json create mode 100644 config/config_scene_ga_st-table-2.yaml create mode 100644 config/config_scene_ga_st-table-3.json create mode 100644 config/config_scene_ga_st-table-3.yaml create mode 100644 config/config_scene_ga_tum-table-1-left.json create mode 100644 config/config_scene_ga_tum-table-1-left.yaml create mode 100644 config/config_scene_ga_tum-table-1-right.json create mode 100644 config/config_scene_ga_tum-table-1-right.yaml create mode 100644 config/config_scene_ga_tum-table-2-left.json create mode 100644 config/config_scene_ga_tum-table-2-left.yaml create mode 100644 config/config_scene_ga_tum-table-2-right.json create mode 100644 config/config_scene_ga_tum-table-2-right.yaml create mode 100644 config_scene_virtual-table.json create mode 100644 launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch create mode 100644 launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch create mode 100644 launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch create mode 100644 launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch create mode 100644 launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch create mode 100644 launch/robot-cell_ceti-table-3.launch create mode 100644 launch/robot-cell_ceti-table-4.launch create mode 100644 launch/robot-cell_ceti-table-5.launch create mode 100644 launch/robot-cell_ceti-table-6.launch create mode 100644 launch/robot-cell_ceti-table-7.launch 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 0000000..63a0b00 --- /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 0000000..9e84feb --- /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 0000000..d643dcf --- /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 0000000..697075e --- /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 0000000..3560ff8 --- /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 0000000..bbc1b76 --- /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 0000000..7781ca4 --- /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 0000000..1368b87 --- /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 0000000..316692b --- /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 0000000..7f55b6a --- /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 0000000..dce466c --- /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 0000000..c802429 --- /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 0000000..fc54387 --- /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 0000000..9beca37 --- /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 1025e77..fb19956 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 642d9e2..46c79ac 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 0000000..db2edbf --- /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 $index in the expression as the result counter. + --split-exp-file string Use a file to specify the split-exp expression. + -r, --unwrapScalar unwrap scalar, print the value with no quotes, colors or comments (default true) + -v, --verbose verbose mode + --xml-attribute-prefix string prefix for xml attributes (default "+") + --xml-content-name string name for xml content (if no attribute name is present). (default "+content") + --xml-keep-namespace enables keeping namespace after parsing attributes (default true) + --xml-raw-token enables using RawToken method instead Token. Commonly disables namespace translations. See https://pkg.go.dev/encoding/xml#Decoder.RawToken for details. (default true) + --xml-strict-mode enables strict parsing of XML. See https://pkg.go.dev/encoding/xml for more details. + diff --git a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch index 4690e77..c21e544 100644 --- a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch +++ b/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch @@ -2,7 +2,7 @@ <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> - <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> <include file="$(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 05057aa..05ab91b 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="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> diff --git a/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch new file mode 100644 index 0000000..28ab8a6 --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table-3_real_robot.launch @@ -0,0 +1,12 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> + + <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> + + <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-3.launch" pass_all_args="true"/> + +</launch> diff --git a/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch new file mode 100644 index 0000000..99b1bf4 --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table-4_real_robot.launch @@ -0,0 +1,12 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> + + <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> + + <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-4.launch" pass_all_args="true"/> + +</launch> diff --git a/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch new file mode 100644 index 0000000..13d978f --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table-5_real_robot.launch @@ -0,0 +1,12 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> + + <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> + + <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-5.launch" pass_all_args="true"/> + +</launch> diff --git a/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch new file mode 100644 index 0000000..42e32f6 --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table-6_real_robot.launch @@ -0,0 +1,12 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> + + <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> + + <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-6.launch" pass_all_args="true"/> + +</launch> diff --git a/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch new file mode 100644 index 0000000..ef91852 --- /dev/null +++ b/launch/main_controller_virtual_preview_ceti-table-7_real_robot.launch @@ -0,0 +1,12 @@ +<launch> + + <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/> + <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/> + <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ceti_cell_3', 'ceti_cell_4', 'ceti_cell_5', 'ceti_cell_6', 'ceti_cell_7', 'ads-cell', 'st-cell']" doc="potential client cell names"/> + <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/> + + <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/> + + <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-7.launch" pass_all_args="true"/> + +</launch> diff --git a/launch/robot-cell_ceti-table-1.launch b/launch/robot-cell_ceti-table-1.launch index 2737a46..fd1a102 100644 --- a/launch/robot-cell_ceti-table-1.launch +++ b/launch/robot-cell_ceti-table-1.launch @@ -13,7 +13,7 @@ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen"> <param name="mqtt_server" type="yaml" value="$(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 6221ee3..8ba3adf 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="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-2.json"/> </node> </launch> diff --git a/launch/robot-cell_ceti-table-3.launch b/launch/robot-cell_ceti-table-3.launch new file mode 100644 index 0000000..0d5fa0a --- /dev/null +++ b/launch/robot-cell_ceti-table-3.launch @@ -0,0 +1,19 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/> + + <!-- robot IP used by the robot controller --> + <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + + <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ga_st-table-3.json"/> + </node> + +</launch> diff --git a/launch/robot-cell_ceti-table-4.launch b/launch/robot-cell_ceti-table-4.launch new file mode 100644 index 0000000..e587ff2 --- /dev/null +++ b/launch/robot-cell_ceti-table-4.launch @@ -0,0 +1,19 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/> + + <!-- robot IP used by the robot controller --> + <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + + <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-left.json"/> + </node> + +</launch> diff --git a/launch/robot-cell_ceti-table-5.launch b/launch/robot-cell_ceti-table-5.launch new file mode 100644 index 0000000..a7e8852 --- /dev/null +++ b/launch/robot-cell_ceti-table-5.launch @@ -0,0 +1,19 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/> + + <!-- robot IP used by the robot controller --> + <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + + <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-1-right.json"/> + </node> + +</launch> diff --git a/launch/robot-cell_ceti-table-6.launch b/launch/robot-cell_ceti-table-6.launch new file mode 100644 index 0000000..e8919ed --- /dev/null +++ b/launch/robot-cell_ceti-table-6.launch @@ -0,0 +1,19 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/> + + <!-- robot IP used by the robot controller --> + <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + + <include file="$(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="$(find ccf_immersive_sorting)/config/config_scene_ga_tum-table-2-left.json"/> + </node> + +</launch> diff --git a/launch/robot-cell_ceti-table-7.launch b/launch/robot-cell_ceti-table-7.launch new file mode 100644 index 0000000..c6d572a --- /dev/null +++ b/launch/robot-cell_ceti-table-7.launch @@ -0,0 +1,19 @@ +<launch> + + <!-- MQTT server for communication with client cells --> + <arg name="mqtt_server" default="tcp://192.168.0.122:1883" doc="address of the mqtt server for the connection to the controller"/> + + <!-- robot IP used by the robot controller --> + <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/> + + <include file="$(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> -- GitLab