From bc74fbb00c945f9ab747f16d39207bf461872b7e Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Thu, 4 Aug 2022 15:24:06 +0200 Subject: [PATCH] update configs for immersive sorting demo --- ...ig_scene_ceti-table-1-empty-coloured.json} | 0 ...ig_scene_ceti-table-1-empty-coloured.yaml} | 0 .../config_scene_ceti-table-1-empty-grey.json | 332 ++++++++++++++++++ .../config_scene_ceti-table-1-empty-grey.yaml | 38 ++ config/config_scene_virtual-tag-table.json | 283 +++++++++++++++ config/config_scene_virtual-tag-table.yaml | 26 ++ 6 files changed, 679 insertions(+) rename config/{config_scene_ceti-table-1-empty.json => config_scene_ceti-table-1-empty-coloured.json} (100%) rename config/{config_scene_ceti-table-1-empty.yaml => config_scene_ceti-table-1-empty-coloured.yaml} (100%) create mode 100644 config/config_scene_ceti-table-1-empty-grey.json create mode 100644 config/config_scene_ceti-table-1-empty-grey.yaml create mode 100644 config/config_scene_virtual-tag-table.json create mode 100644 config/config_scene_virtual-tag-table.yaml diff --git a/config/config_scene_ceti-table-1-empty.json b/config/config_scene_ceti-table-1-empty-coloured.json similarity index 100% rename from config/config_scene_ceti-table-1-empty.json rename to config/config_scene_ceti-table-1-empty-coloured.json diff --git a/config/config_scene_ceti-table-1-empty.yaml b/config/config_scene_ceti-table-1-empty-coloured.yaml similarity index 100% rename from config/config_scene_ceti-table-1-empty.yaml rename to config/config_scene_ceti-table-1-empty-coloured.yaml diff --git a/config/config_scene_ceti-table-1-empty-grey.json b/config/config_scene_ceti-table-1-empty-grey.json new file mode 100644 index 0000000..79cb6c2 --- /dev/null +++ b/config/config_scene_ceti-table-1-empty-grey.json @@ -0,0 +1,332 @@ +{ + "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": "D", + "type": "BIN", + "pos": { + "x": -0.23, + "y": 0.67, + "z": 0.9425 + }, + "size": { + "length": 0.24, + "width": 0.17, + "height": 0.105 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.2, + "g": 0.2, + "b": 0.2 + } + }, + { + "id": "C", + "type": "BIN", + "pos": { + "x": -0.23, + "y": 0.49, + "z": 0.9425 + }, + "size": { + "length": 0.24, + "width": 0.17, + "height": 0.105 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.4, + "g": 0.4, + "b": 0.4 + } + }, + { + "id": "B", + "type": "BIN", + "pos": { + "x": -0.23, + "y": -0.49, + "z": 0.9425 + }, + "size": { + "length": 0.24, + "width": 0.17, + "height": 0.105 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.6, + "g": 0.6, + "b": 0.6 + } + }, + { + "id": "A", + "type": "BIN", + "pos": { + "x": -0.23, + "y": -0.67, + "z": 0.9425 + }, + "size": { + "length": 0.24, + "width": 0.17, + "height": 0.105 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8, + "g": 0.8, + "b": 0.8 + } + }, + { + "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_ceti-table-1-empty-grey.yaml b/config/config_scene_ceti-table-1-empty-grey.yaml new file mode 100644 index 0000000..0bdd28e --- /dev/null +++ b/config/config_scene_ceti-table-1-empty-grey.yaml @@ -0,0 +1,38 @@ +# create json file using +# yq eval -o=json config_scene_ceti-table-1-empty.yaml > config_scene_ceti-table-1-empty.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': 'D','type': 'BIN','pos': { 'x': -0.23,'y': 0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } }, + { 'id': 'C','type': 'BIN','pos': { 'x': -0.23,'y': 0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } }, + { 'id': 'B','type': 'BIN','pos': { 'x': -0.23,'y': -0.49,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } }, + { 'id': 'A','type': 'BIN','pos': { 'x': -0.23,'y': -0.67,'z': 0.9425 },'size': { 'length': 0.24,'width': 0.17,'height': 0.105 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } }, + + { '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_virtual-tag-table.json b/config/config_scene_virtual-tag-table.json new file mode 100644 index 0000000..a37368d --- /dev/null +++ b/config/config_scene_virtual-tag-table.json @@ -0,0 +1,283 @@ +{ + "objects": [ + { + "id": "table", + "pos": { + "z": 0.25 + }, + "size": { + "length": 1, + "width": 2, + "height": 0.5 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.3, + "g": 0.3, + "b": 0.3 + } + }, + { + "id": "A", + "type": "BIN", + "pos": { + "x": -0.35, + "y": -0.6, + "z": 0.65 + }, + "size": { + "length": 0.3, + "width": 0.3, + "height": 0.3 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.2, + "g": 0.2, + "b": 0.2 + } + }, + { + "id": "B", + "type": "BIN", + "pos": { + "x": -0.35, + "y": -0.2, + "z": 0.65 + }, + "size": { + "length": 0.3, + "width": 0.3, + "height": 0.3 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.4, + "g": 0.4, + "b": 0.4 + } + }, + { + "id": "C", + "type": "BIN", + "pos": { + "x": -0.35, + "y": 0.2, + "z": 0.65 + }, + "size": { + "length": 0.3, + "width": 0.3, + "height": 0.3 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.6, + "g": 0.6, + "b": 0.6 + } + }, + { + "id": "D", + "type": "BIN", + "pos": { + "x": -0.35, + "y": 0.6, + "z": 0.65 + }, + "size": { + "length": 0.3, + "width": 0.3, + "height": 0.3 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8, + "g": 0.8, + "b": 0.8 + } + }, + { + "id": "bigBlue", + "type": "BOX", + "pos": { + "x": 0.3, + "y": -0.6, + "z": 0.58 + }, + "size": { + "length": 0.15, + "width": 0.3, + "height": 0.16 + }, + "orientation": { + "w": 1 + }, + "color": { + "b": 0.8 + } + }, + { + "id": "bigGreen", + "type": "BOX", + "pos": { + "x": 0.3, + "y": -0.2, + "z": 0.58 + }, + "size": { + "length": 0.15, + "width": 0.3, + "height": 0.16 + }, + "orientation": { + "w": 1 + }, + "color": { + "g": 0.8 + } + }, + { + "id": "bigRed", + "type": "BOX", + "pos": { + "x": 0.3, + "y": 0.2, + "z": 0.58 + }, + "size": { + "length": 0.15, + "width": 0.3, + "height": 0.16 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8 + } + }, + { + "id": "bigYellow", + "type": "BOX", + "pos": { + "x": 0.3, + "y": 0.6, + "z": 0.58 + }, + "size": { + "length": 0.15, + "width": 0.3, + "height": 0.16 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8, + "g": 0.8 + } + }, + { + "id": "smallBlue", + "type": "BOX", + "pos": { + "x": 0.6, + "y": -0.2, + "z": 0.54 + }, + "size": { + "length": 0.15, + "width": 0.15, + "height": 0.08 + }, + "orientation": { + "w": 1 + }, + "color": { + "b": 0.8 + } + }, + { + "id": "smallGreen", + "type": "BOX", + "pos": { + "x": 0.6, + "y": 0, + "z": 0.54 + }, + "size": { + "length": 0.15, + "width": 0.15, + "height": 0.08 + }, + "orientation": { + "w": 1 + }, + "color": { + "g": 0.8 + } + }, + { + "id": "smallRed", + "type": "BOX", + "pos": { + "x": 0.6, + "y": 0.2, + "z": 0.54 + }, + "size": { + "length": 0.15, + "width": 0.15, + "height": 0.08 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8 + } + }, + { + "id": "smallYellow", + "type": "BOX", + "pos": { + "x": 0.6, + "y": 0.4, + "z": 0.54 + }, + "size": { + "length": 0.15, + "width": 0.15, + "height": 0.08 + }, + "orientation": { + "w": 1 + }, + "color": { + "r": 0.8, + "g": 0.8 + } + }, + { + "id": "virtual-arm", + "type": "ARM", + "pos": {}, + "size": {}, + "orientation": { + "w": 1 + }, + "color": {} + } + ] +} diff --git a/config/config_scene_virtual-tag-table.yaml b/config/config_scene_virtual-tag-table.yaml new file mode 100644 index 0000000..5fcca35 --- /dev/null +++ b/config/config_scene_virtual-tag-table.yaml @@ -0,0 +1,26 @@ +# create json file using +# yq eval -o=json config_scene_virtual-table.yaml > config_scene_virtual-table.json +{ 'objects': [ + # table + # height: 1m + # width: 2m + { 'id': 'table', 'pos': { 'z': 0.25 },'size': { 'length': 1,'width': 2,'height': .5 },'orientation': { 'w': 1 },'color': { 'r': 0.3,'g': 0.3,'b': 0.3 } }, + + # idea: all elements are sorted by name + { 'id': 'A','type': 'BIN','pos': { 'x': -0.35,'y': -0.6,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.2, 'g': 0.2, 'b': 0.2 } }, + { 'id': 'B','type': 'BIN','pos': { 'x': -0.35,'y': -0.2,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.4, 'g': 0.4, 'b': 0.4 } }, + { 'id': 'C','type': 'BIN','pos': { 'x': -0.35,'y': 0.2,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.6, 'g': 0.6, 'b': 0.6 } }, + { 'id': 'D','type': 'BIN','pos': { 'x': -0.35,'y': 0.6,'z': 0.65 },'size': { 'length': 0.3,'width': 0.3,'height': 0.3 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8, 'b': 0.8 } }, + + { 'id': 'bigBlue', 'type': 'BOX','pos': { 'x': 0.3,'y': -0.60000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } }, + { 'id': 'bigGreen', 'type': 'BOX','pos': { 'x': 0.3,'y': -0.200000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } }, + { 'id': 'bigRed', 'type': 'BOX','pos': { 'x': 0.3,'y': 0.200000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } }, + { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.3,'y': 0.600000,'z': 0.58 },'size': { 'length': .15, 'width': .30,'height': 0.16 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } }, + + { 'id': 'smallBlue', 'type': 'BOX','pos': { 'x': 0.6,'y': -0.200000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'b': 0.8 } }, + { 'id': 'smallGreen', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.000000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'g': 0.8 } }, + { 'id': 'smallRed', 'type': 'BOX','pos': { 'x': 0.6,'y': 0.200000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8 } }, + { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.6,'y': 0.400000,'z': 0.54 },'size': { 'length': .15, 'width': .15,'height': 0.08 },'orientation': { 'w': 1 },'color': { 'r': 0.8, 'g': 0.8 } }, + + { 'id': 'virtual-arm','type': 'ARM','pos': { },'size': { },'orientation': { 'w': 1 },'color': { } } +] } -- GitLab