fancy paper placeworld

config/config_scene_ceti-table-placeworld.json

@@ -1410,11 +1410,11 @@
       }
     },
     {
-      "id": "bigBlue",
+      "id": "blue1",
       "type": "BOX",
       "pos": {
         "x": 0.1,
-        "y": -0.25,
+        "y": -0.7,
         "z": 0.9355
       },
       "size": {
@@ -1430,11 +1430,71 @@
       }
     },
     {
-      "id": "bigGreen",
+      "id": "blue2",
       "type": "BOX",
       "pos": {
-        "x": -0.3,
-        "y": 2.01,
+        "x": 0.2,
+        "y": 0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "blue3",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": -0.1,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "b": 1
+      }
+    },
+    {
+      "id": "green1",
+      "type": "BOX",
+      "pos": {
+        "x": 0.2,
+        "y": -0.3,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "g": 1
+      }
+    },
+    {
+      "id": "green2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.1,
+        "y": 1.91,
         "z": 0.9355
       },
       "size": {
@@ -1449,6 +1509,46 @@
         "g": 1
       }
     },
+    {
+      "id": "red1",
+      "type": "BOX",
+      "pos": {
+        "x": -0.3,
+        "y": -0.6,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
+    {
+      "id": "red2",
+      "type": "BOX",
+      "pos": {
+        "x": 0.3,
+        "y": 1.41,
+        "z": 0.9355
+      },
+      "size": {
+        "length": 0.0318,
+        "width": 0.0636,
+        "height": 0.091
+      },
+      "orientation": {
+        "w": 1
+      },
+      "color": {
+        "r": 1
+      }
+    },
     {
       "id": "arm1",
       "type": "ARM",

config/config_scene_ceti-table-placeworld.yaml

@@ -121,14 +121,19 @@
 
   { 'id': 'J1', 'type': 'DROP_OFF_LOCATION', 'pos': { 'x':  .1, 'y':  1.91, 'z': 0.89 },'size': { 'length': 0.1,'width': 0.1,'height': 0.0 },'orientation': { 'w': 1 } },
   { 'id': 'J2', 'type': 'DROP_OFF_LOCATION', 'pos': { 'x':  .1, 'y':  2.01, 'z': 0.89 },'size': { 'length': 0.1,'width': 0.1,'height': 0.0 },'orientation': { 'w': 1 } },
-  { 'id': 'J3', 'type': 'DROP_OFF_LOCATION', 'pos': { 'x':  .2, 'y':  1.91, 'z': 0.89 },'size': { 'length': 0.1,'width': 0.1,'height': 0.0 },'orientation': { 'w': 1 } },
+#  { 'id': 'J3', 'type': 'DROP_OFF_LOCATION', 'pos': { 'x':  .2, 'y':  1.91, 'z': 0.89 },'size': { 'length': 0.1,'width': 0.1,'height': 0.0 },'orientation': { 'w': 1 } },
 #  { 'id': 'J4', 'type': 'DROP_OFF_LOCATION', 'pos': { 'x':  .2, 'y':  2.01, 'z': 0.89 },'size': { 'length': 0.1,'width': 0.1,'height': 0.0 },'orientation': { 'w': 1 } },
 
   # the collaboration zone has height 120cm
   { 'id': 'cz1', 'type': 'COLLABORATION_ZONE', 'pos': { 'z': 1.49, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.3,'height': 1.2 },'orientation': { 'w': 1 },'color': { 'r': 1,'g': 0.627,'b': 0 } },
 
-  { 'id': 'bigBlue',  'type': 'BOX', 'pos': { 'x': 0.10,'y': -0.25, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
-  { 'id': 'bigGreen', 'type': 'BOX', 'pos': { 'x': -.3, 'y':  2.01, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'blue1',  'type': 'BOX', 'pos': { 'x':  .1, 'y': -.7, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # target B
+  { 'id': 'blue2',  'type': 'BOX', 'pos': { 'x':  .2, 'y':  .3, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # target B
+  { 'id': 'blue3',  'type': 'BOX', 'pos': { 'x':  .2, 'y': -.1, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, # impossible for the target B
+  { 'id': 'green1', 'type': 'BOX', 'pos': { 'x':  .2, 'y': -.3, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'green2', 'type': 'BOX', 'pos': { 'x':  .1, 'y':  1.91, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+  { 'id': 'red1',   'type': 'BOX', 'pos': { 'x': -.3, 'y': -.6, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+  { 'id': 'red2',   'type': 'BOX', 'pos': { 'x':  .3, 'y':  1.41, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
 
   { 'id': 'arm1','type': 'ARM','pos': { 'x': -0.22,            'z': 0.89 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
   { 'id': 'arm2','type': 'ARM','pos': { 'x': -0.22, 'y': 1.31, 'z': 0.89 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }