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': { } }
+] }
-- 
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