From c5b79a121f4b294f8411be5d7f87c39634f4a485 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 24 Jul 2024 12:55:53 +0200
Subject: [PATCH] add boxes to empty table

---
 .../config_scene_ceti-table-1-empty-grey.json | 88 +++++++++++++++++++
 .../config_scene_ceti-table-1-empty-grey.yaml |  8 +-
 2 files changed, 92 insertions(+), 4 deletions(-)

diff --git a/config/config_scene_ceti-table-1-empty-grey.json b/config/config_scene_ceti-table-1-empty-grey.json
index 1c7fc40..79cb6c2 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 6f8b371..3a2feaa 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 } }
 ] }
-- 
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