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Commit bc74fbb0 authored by Johannes Mey's avatar Johannes Mey
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update configs for immersive sorting demo

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{
"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
}
}
]
}
# 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 } }
] }
{
"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": {}
}
]
}
# 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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