From efd15981d398cc0d7411cdc2fb4ddc948a332c24 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Thu, 27 Apr 2023 15:04:35 +0200
Subject: [PATCH] first simple config
---
config/config_scene_dineros-left.json | 384 +++++++++++++++++
config/config_scene_dineros-left.yaml | 47 +++
config/config_scene_dineros-right.json | 387 ++++++++++++++++++
config/config_scene_dineros-right.yaml | 47 +++
.../noop-sim-cell_dineros-left.launch | 19 +
.../robot-cell_dineros-left.launch | 21 +
.../robot-cell_dineros-right.launch | 21 +
7 files changed, 926 insertions(+)
create mode 100644 config/config_scene_dineros-left.json
create mode 100644 config/config_scene_dineros-left.yaml
create mode 100644 config/config_scene_dineros-right.json
create mode 100644 config/config_scene_dineros-right.yaml
create mode 100644 launch/cell-controllers/noop-sim-cell_dineros-left.launch
create mode 100644 launch/cell-controllers/robot-cell_dineros-left.launch
create mode 100644 launch/cell-controllers/robot-cell_dineros-right.launch
diff --git a/config/config_scene_dineros-left.json b/config/config_scene_dineros-left.json
new file mode 100644
index 0000000..67da4f2
--- /dev/null
+++ b/config/config_scene_dineros-left.json
@@ -0,0 +1,384 @@
+{
+ "objects": [
+ {
+ "id": "wheel_1",
+ "pos": {
+ "x": 0.28,
+ "y": 0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_2",
+ "pos": {
+ "x": -0.28,
+ "y": -0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_3",
+ "pos": {
+ "x": -0.28,
+ "y": 0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_4",
+ "pos": {
+ "x": 0.28,
+ "y": -0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_front",
+ "pos": {
+ "x": 0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.005,
+ "width": 0.69,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_back",
+ "pos": {
+ "x": -0.345,
+ "z": 0.45
+ },
+ "size": {
+ "length": 0.005,
+ "width": 0.69,
+ "height": 0.66
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_left",
+ "pos": {
+ "y": 0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.69,
+ "width": 0.005,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_right",
+ "pos": {
+ "y": -0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.69,
+ "width": 0.005,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.8,
+ "width": 0.8,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "left_panel",
+ "pos": {
+ "z": 0.885,
+ "y": -0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "right_panel",
+ "pos": {
+ "z": 0.885,
+ "y": 0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "front_panel",
+ "pos": {
+ "z": 0.885,
+ "x": 0.6525
+ },
+ "size": {
+ "length": 0.5,
+ "width": 0.7,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binBlue",
+ "type": "BIN",
+ "pos": {
+ "x": -0.255,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "binRed",
+ "type": "BIN",
+ "pos": {
+ "x": -0.055,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "bigRed",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.091
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "bigBlue",
+ "type": "BOX",
+ "pos": {
+ "x": 0.1,
+ "y": -0.25,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.091
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "smallBlue",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "b": 1
+ }
+ },
+ {
+ "id": "smallRed",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1
+ }
+ },
+ {
+ "id": "arm1",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_dineros-left.yaml b/config/config_scene_dineros-left.yaml
new file mode 100644
index 0000000..5bc921d
--- /dev/null
+++ b/config/config_scene_dineros-left.yaml
@@ -0,0 +1,47 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+ # table
+ # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+ # wheels width/depth/height 12*12*12
+ # body width/depth/height 69*69*76
+ # table-top width/depth/height 80*80*1
+ # panels are 50*70, with 0.5 cm distance to the table-top
+ # height of both is 12 + 76 + .5 = 88.5
+ # their centre is at 40 + 0.25 + 25 = 65.25
+ { 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ # a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
+ # { 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+
+ # bins width/depth/height 28.5*19*15.5
+ # their height is 89 + 7.75 = 0.9675 m
+ # 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': 'binBlue', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'binRed', 'type': 'BIN','pos': { 'x': -0.055,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ { 'id': 'bigRed','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+ { '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': 'smallBlue','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
+ { 'id': 'smallRed','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
+
+ # heights of objects (including pins):
+ # formula: half-height * 9.6 + 4.6
+ # formula (python)
+ # for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000));
+
+ { '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 } }
+] }
diff --git a/config/config_scene_dineros-right.json b/config/config_scene_dineros-right.json
new file mode 100644
index 0000000..8a9c69c
--- /dev/null
+++ b/config/config_scene_dineros-right.json
@@ -0,0 +1,387 @@
+{
+ "objects": [
+ {
+ "id": "wheel_1",
+ "pos": {
+ "x": 0.28,
+ "y": 0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_2",
+ "pos": {
+ "x": -0.28,
+ "y": -0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_3",
+ "pos": {
+ "x": -0.28,
+ "y": 0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "wheel_4",
+ "pos": {
+ "x": 0.28,
+ "y": -0.28,
+ "z": 0.06
+ },
+ "size": {
+ "length": 0.12,
+ "width": 0.12,
+ "height": 0.12
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_front",
+ "pos": {
+ "x": 0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.005,
+ "width": 0.69,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_back",
+ "pos": {
+ "x": -0.345,
+ "z": 0.45
+ },
+ "size": {
+ "length": 0.005,
+ "width": 0.69,
+ "height": 0.66
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_left",
+ "pos": {
+ "y": 0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.69,
+ "width": 0.005,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table_body_right",
+ "pos": {
+ "y": -0.345,
+ "z": 0.5
+ },
+ "size": {
+ "length": 0.69,
+ "width": 0.005,
+ "height": 0.76
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "table-top",
+ "pos": {
+ "z": 0.885
+ },
+ "size": {
+ "length": 0.8,
+ "width": 0.8,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "left_panel",
+ "pos": {
+ "z": 0.885,
+ "y": -0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "right_panel",
+ "pos": {
+ "z": 0.885,
+ "y": 0.6525
+ },
+ "size": {
+ "length": 0.7,
+ "width": 0.5,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "front_panel",
+ "pos": {
+ "z": 0.885,
+ "x": 0.6525
+ },
+ "size": {
+ "length": 0.5,
+ "width": 0.7,
+ "height": 0.01
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 0.15,
+ "g": 0.15,
+ "b": 0.15
+ }
+ },
+ {
+ "id": "binYellow",
+ "type": "BIN",
+ "pos": {
+ "x": -0.255,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1
+ }
+ },
+ {
+ "id": "binGreen",
+ "type": "BIN",
+ "pos": {
+ "x": -0.055,
+ "y": 0.5475,
+ "z": 0.9675
+ },
+ "size": {
+ "length": 0.19,
+ "width": 0.285,
+ "height": 0.155
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "bigYellow",
+ "type": "BOX",
+ "pos": {
+ "x": 0.2,
+ "y": 0.05,
+ "z": 0.9403
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.1006
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1
+ }
+ },
+ {
+ "id": "bigGreen",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": 0.3,
+ "z": 0.9355
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.091
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "smallYellow",
+ "type": "BOX",
+ "pos": {
+ "x": 0.3,
+ "y": -0.2,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1
+ }
+ },
+ {
+ "id": "smallGreen",
+ "type": "BOX",
+ "pos": {
+ "x": 0.15,
+ "y": -0.15,
+ "z": 0.9307
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": 1
+ }
+ },
+ {
+ "id": "arm2",
+ "type": "ARM",
+ "pos": {
+ "z": 0.89,
+ "x": -0.22
+ },
+ "size": {},
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": 1,
+ "g": 1,
+ "b": 1
+ }
+ }
+ ]
+}
diff --git a/config/config_scene_dineros-right.yaml b/config/config_scene_dineros-right.yaml
new file mode 100644
index 0000000..7d09da0
--- /dev/null
+++ b/config/config_scene_dineros-right.yaml
@@ -0,0 +1,47 @@
+# create json file using
+# yq eval -o=json config_scene_ceti-table-1.yaml > config_scene_ceti-table-1.json
+{ 'objects': [
+ # table
+ # height: 12 cm wheels, 76 cm body, 1 cm table-top = 89 cm total
+ # wheels width/depth/height 12*12*12
+ # body width/depth/height 69*69*76
+ # table-top width/depth/height 80*80*1
+ # panels are 50*70, with 0.5 cm distance to the table-top
+ # height of both is 12 + 76 + .5 = 88.5
+ # their centre is at 40 + 0.25 + 25 = 65.25
+ { 'id': 'wheel_1','pos': { 'x': 0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_2','pos': { 'x': -0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_3','pos': { 'x': -0.28,'y': 0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'wheel_4','pos': { 'x': 0.28,'y': -0.28,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ # a filled table and a backplate going all the way up is not possible, because of the oversized collision model of the robot
+ # { 'id': 'table_body','pos': { 'z': 0.50 },'size': { 'length': .69,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_front','pos': { 'x': .345, 'z': 0.50 },'size': { 'length': 0.005,'width': 0.69,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_back', 'pos': { 'x': -.345, 'z': 0.45 },'size': { 'length': 0.005,'width': 0.69,'height': 0.66 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_left', 'pos': { 'y': .345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table_body_right','pos': { 'y': -.345, 'z': 0.50 },'size': { 'length': 0.69,'width': 0.005,'height': 0.76 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'table-top', 'pos': { 'z': 0.885 },'size': { 'length': 0.8,'width': 0.8,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'left_panel', 'pos': { 'z': 0.885, 'y': -0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'right_panel', 'pos': { 'z': 0.885, 'y': 0.6525 },'size': { 'length': 0.7,'width': 0.5,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+ { 'id': 'front_panel', 'pos': { 'z': 0.885, 'x': 0.6525 },'size': { 'length': 0.5,'width': 0.7,'height': 0.01 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
+
+ # bins width/depth/height 28.5*19*15.5
+ # their height is 89 + 7.75 = 0.9675 m
+ # 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': 'binYellow', 'type': 'BIN','pos': { 'x': -0.255,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+ { 'id': 'binGreen', 'type': 'BIN','pos': { 'x': -0.055,'y': 0.5475,'z': 0.9675 },'size': { 'length': 0.19,'width': 0.285,'height': 0.155 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'bigYellow','type': 'BOX','pos': { 'x': 0.20,'y': 0.05,'z': 0.940300 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+ { 'id': 'bigGreen','type': 'BOX','pos': { 'x': 0.30,'y': 0.30,'z': 0.935500 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ { 'id': 'smallYellow','type': 'BOX','pos': { 'x': 0.30,'y': -0.20,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': 1, 'g': 1 } },
+ { 'id': 'smallGreen','type': 'BOX','pos': { 'x': 0.15,'y': -0.15,'z': 0.930700 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
+
+ # heights of objects (including pins):
+ # formula: half-height * 9.6 + 4.6
+ # formula (python)
+ # for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000));
+
+ { '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 } }
+] }
diff --git a/launch/cell-controllers/noop-sim-cell_dineros-left.launch b/launch/cell-controllers/noop-sim-cell_dineros-left.launch
new file mode 100644
index 0000000..780b205
--- /dev/null
+++ b/launch/cell-controllers/noop-sim-cell_dineros-left.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://localhost:1883"
+ doc="address of the mqtt server for the connection to the controller"/>
+
+ <include file="$(find ccf)/launch/simulation_setup.launch"/>
+
+ <param name="/connector_node_ros_ccf/topics/command" value="/ceti_cell_1/command"/>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
+ <param name="arm" type="string" value="arm1"/>
+ <param name="scene_observer" type="string" value="object_locator/scene/update"/>
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string"
+ value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
+ </node>
+
+</launch>
diff --git a/launch/cell-controllers/robot-cell_dineros-left.launch b/launch/cell-controllers/robot-cell_dineros-left.launch
new file mode 100644
index 0000000..e9de741
--- /dev/null
+++ b/launch/cell-controllers/robot-cell_dineros-left.launch
@@ -0,0 +1,21 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+ doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
+ <param name="arm" type="string" value="arm"/>
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
+ </node>
+
+</launch>
diff --git a/launch/cell-controllers/robot-cell_dineros-right.launch b/launch/cell-controllers/robot-cell_dineros-right.launch
new file mode 100644
index 0000000..f7a1602
--- /dev/null
+++ b/launch/cell-controllers/robot-cell_dineros-right.launch
@@ -0,0 +1,21 @@
+<launch>
+
+ <!-- MQTT server for communication with client cells -->
+ <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+ doc="address of the mqtt server for the connection to the controller"/>
+
+ <!-- robot IP used by the robot controller -->
+ <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+
+ <include file="$(find ccf)/launch/robot_setup.launch">
+ <arg name="robot_ip" value="$(arg robot_ip)"/>
+ <arg name="load_gripper" value="true"/>
+ </include>
+
+ <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
+ <param name="arm" type="string" value="arm"/>
+ <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+ <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/>
+ </node>
+
+</launch>
--
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