diff --git a/config/config_scene_ceti-table-placeworld.json b/config/config_scene_ceti-table-placeworld.json index c2a4bc38aefc2e6464a6c12bc8e65e3069e94d23..48affa529725ef0be25e13b47af5393946ed134f 100644 --- a/config/config_scene_ceti-table-placeworld.json +++ b/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", diff --git a/config/config_scene_ceti-table-placeworld.yaml b/config/config_scene_ceti-table-placeworld.yaml index 8a49952642458671994df9bbc8354706d554ec84..0cfc174df5feb31252e335ae3167d2c08333979a 100644 --- a/config/config_scene_ceti-table-placeworld.yaml +++ b/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 } }