From d87e4eeb7d8e5b51864a6faeabdb28c6eddbc6b5 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Sat, 21 May 2022 18:28:15 +0200
Subject: [PATCH] fancy paper placeworld
---
.../config_scene_ceti-table-placeworld.json | 110 +++++++++++++++++-
.../config_scene_ceti-table-placeworld.yaml | 11 +-
2 files changed, 113 insertions(+), 8 deletions(-)
diff --git a/config/config_scene_ceti-table-placeworld.json b/config/config_scene_ceti-table-placeworld.json
index c2a4bc3..48affa5 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 8a49952..0cfc174 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 } }
--
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