diff --git a/config/config_scene_ceti-table-1-empty-grey.json b/config/config_scene_ceti-table-1-empty-grey.json index 1c7fc4043f466869a622e7f70d15f6035ddea76b..79cb6c241d6203395d946c8cb91436ffbb6705e8 100644 --- a/config/config_scene_ceti-table-1-empty-grey.json +++ b/config/config_scene_ceti-table-1-empty-grey.json @@ -223,6 +223,94 @@ "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", diff --git a/config/config_scene_ceti-table-1-empty-grey.yaml b/config/config_scene_ceti-table-1-empty-grey.yaml index 6f8b371835a525bac3cbd43ea4ff181d91674ab2..3a2feaabce5438a4c76a836d9655d37c33e32003 100644 --- a/config/config_scene_ceti-table-1-empty-grey.yaml +++ b/config/config_scene_ceti-table-1-empty-grey.yaml @@ -29,10 +29,10 @@ # 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': '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 } } ] }