diff --git a/descriptions/dummy.yaml b/descriptions/dummy.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..575dd6a88091d57391b747c6bd5e0c2cad90d672
--- /dev/null
+++ b/descriptions/dummy.yaml
@@ -0,0 +1,64 @@
+task:
+ groups:
+ panda_arm1:
+ - -0.300000 -0.700000 0.890000
+ - -0.300000 -0.600000 0.890000
+ - -0.200000 -0.700000 0.890000
+ - -0.200000 -0.600000 0.890000
+ - 0.100000 -0.700000 0.890000
+ - 0.100000 -0.600000 0.890000
+ - 0.100000 -0.300000 0.890000
+ - 0.100000 -0.200000 0.890000
+ - 0.100000 -0.100000 0.890000
+ - 0.200000 -0.300000 0.890000
+ - 0.200000 -0.200000 0.890000
+ - 0.200000 -0.100000 0.890000
+ - 0.300000 -0.300000 0.890000
+ - 0.300000 -0.200000 0.890000
+ - 0.300000 -0.100000 0.890000
+ - 0.100000 0.100000 0.890000
+ - 0.100000 0.200000 0.890000
+ - 0.100000 0.300000 0.890000
+ - 0.200000 0.100000 0.890000
+ - 0.200000 0.200000 0.890000
+ - 0.200000 0.300000 0.890000
+ - 0.300000 0.100000 0.890000
+ - 0.300000 0.200000 0.890000
+ - 0.300000 0.300000 0.890000
+ - -0.300000 0.600000 0.890000
+ - -0.300000 0.700000 0.890000
+ - -0.200000 0.600000 0.890000
+ - -0.200000 0.700000 0.890000
+ - 0.100000 0.600000 0.890000
+ - 0.100000 0.700000 0.890000
+ panda_arm2:
+ - 0.100000 1.010000 0.890000
+ - 0.100000 1.110000 0.890000
+ - 0.100000 1.210000 0.890000
+ - 0.200000 1.010000 0.890000
+ - 0.200000 1.110000 0.890000
+ - 0.200000 1.210000 0.890000
+ - 0.300000 1.010000 0.890000
+ - 0.300000 1.110000 0.890000
+ - 0.300000 1.210000 0.890000
+ - 0.100000 1.410000 0.890000
+ - 0.100000 1.510000 0.890000
+ - 0.100000 1.610000 0.890000
+ - 0.200000 1.410000 0.890000
+ - 0.200000 1.510000 0.890000
+ - 0.200000 1.610000 0.890000
+ - 0.300000 1.410000 0.890000
+ - 0.300000 1.510000 0.890000
+ - 0.300000 1.610000 0.890000
+ - -0.300000 1.910000 0.890000
+ - -0.300000 2.010000 0.890000
+ - -0.200000 1.910000 0.890000
+ - -0.200000 2.010000 0.890000
+ - 0.100000 1.910000 0.890000
+ - 0.100000 2.010000 0.890000
+ - -0.300000 0.600000 0.890000
+ - -0.300000 0.700000 0.890000
+ - -0.200000 0.600000 0.890000
+ - -0.200000 0.700000 0.890000
+ - 0.100000 0.600000 0.890000
+ - 0.100000 0.700000 0.890000
\ No newline at end of file
diff --git a/descriptions/dummy2.yaml b/descriptions/dummy2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ac7a2a901f8d43bd77e94b7a0746637a824dbf6f
--- /dev/null
+++ b/descriptions/dummy2.yaml
@@ -0,0 +1,51 @@
+task:
+ groups:
+ panda_arm1:
+ - -0.300000 -0.700000 0.890000
+ - -0.300000 -0.600000 0.890000
+ - -0.200000 -0.700000 0.890000
+ - -0.200000 -0.600000 0.890000
+ - 0.100000 -0.700000 0.890000
+ - 0.100000 -0.600000 0.890000
+ - 0.100000 -0.300000 0.890000
+ - 0.100000 -0.200000 0.890000
+ - 0.100000 -0.100000 0.890000
+ - 0.200000 -0.300000 0.890000
+ - 0.200000 -0.200000 0.890000
+ - 0.200000 -0.100000 0.890000
+ - 0.300000 -0.300000 0.890000
+ - 0.300000 -0.200000 0.890000
+ - 0.300000 -0.100000 0.890000
+ - 0.100000 0.100000 0.890000
+ - 0.100000 0.200000 0.890000
+ - 0.100000 0.300000 0.890000
+ - 0.200000 0.100000 0.890000
+ - 0.200000 0.200000 0.890000
+ - 0.200000 0.300000 0.890000
+ - 0.300000 0.100000 0.890000
+ - 0.300000 0.200000 0.890000
+ - 0.300000 0.300000 0.890000
+ panda_arm2:
+ - 0.100000 1.110000 0.890000
+ - 0.100000 1.210000 0.890000
+ - 0.200000 1.010000 0.890000
+ - 0.200000 1.110000 0.890000
+ - 0.200000 1.210000 0.890000
+ - 0.300000 1.010000 0.890000
+ - 0.300000 1.110000 0.890000
+ - 0.300000 1.210000 0.890000
+ - 0.100000 1.410000 0.890000
+ - 0.100000 1.510000 0.890000
+ - 0.100000 1.610000 0.890000
+ - 0.200000 1.410000 0.890000
+ - 0.200000 1.510000 0.890000
+ - 0.200000 1.610000 0.890000
+ - 0.300000 1.410000 0.890000
+ - 0.300000 1.510000 0.890000
+ - 0.300000 1.610000 0.890000
+ - -0.300000 1.910000 0.890000
+ - -0.300000 2.010000 0.890000
+ - -0.200000 1.910000 0.890000
+ - -0.200000 2.010000 0.890000
+ - 0.100000 1.910000 0.890000
+ - 0.100000 2.010000 0.890000
\ No newline at end of file
diff --git a/include/mediator/abstract_mediator.h b/include/mediator/abstract_mediator.h
index 2c4b5aecb445c966537179c158c9f9d20096aed4..0c0f0daa13a212cd1a9037e3bd98d1726b87fa8a 100644
--- a/include/mediator/abstract_mediator.h
+++ b/include/mediator/abstract_mediator.h
@@ -18,6 +18,8 @@
#include "reader/wing_reader.h"
#include "reader/robot_reader.h"
#include "reader/ts_reader.h"
+#include "reader/cuboid_reader.h"
+
//! Blueprint of panel data
@@ -51,6 +53,8 @@ class AbstractMediator {
std::unique_ptr<WingReader> wing_reader_; //!< Wing_reader which collects panel information of robots
std::unique_ptr<RobotReader> robot_reader_; //!< Robot_reader which collects robot poses
+ std::unique_ptr<CuboidReader> cuboid_reader_; //!< coboidReader instance that distinguishes between scene objects of type bin and box
+
public:
//! AbstractMediator constructor
@@ -129,6 +133,12 @@ class AbstractMediator {
*/
inline RobotReader* robotReader() {return robot_reader_.get();}
+ //! Get Cuboid_reader
+ /*!
+ \return cuboid reader
+ */
+ inline CuboidReader* cuboidReader() {return cuboid_reader_.get();}
+
};
diff --git a/include/mediator/moveit_mediator.h b/include/mediator/moveit_mediator.h
index 3c3dcff8746b02b09a00bd784e0cc336e2b33296..f8c944d36e604e9b09d66a816f8774bff7c4041a 100644
--- a/include/mediator/moveit_mediator.h
+++ b/include/mediator/moveit_mediator.h
@@ -66,7 +66,6 @@ class MoveitMediator : public AbstractMediator{
std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> cartesian_planner_; //!< Moveit task Constructior cartesian planner
std::map<std::string, std::vector<moveit::task_constructor::Task>> task_map_; //!< Tasks mapped to Robot
std::unique_ptr<JobReader> job_reader_; //!< jobReader instancde which reads task information
- std::unique_ptr<CuboidReader> cuboid_reader_; //!< coboidReader instance that distinguishes between scene objects of type bin and box
std::map<std::string, std::vector<uint8_t>> acm_; //!< shared allowed collision matrix between robots
std::map<std::string, std::vector<uint8_t>> rs_; //!< shared robot state between all robots
std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> tasks_; //!< tasks multimap
diff --git a/launch/cell_routine.launch b/launch/cell_routine.launch
index dc3663ffd1b172738557946dac2660722af8150d..891bb5c596da59559414642db2907ac7336879ae 100644
--- a/launch/cell_routine.launch
+++ b/launch/cell_routine.launch
@@ -1,6 +1,6 @@
<launch>
- <arg name="result" default="evaluation/double_eval.yaml" />
- <arg name="jobs" default="jobs/eval_dual.yaml" />
+ <arg name="result" default="dummy/-243824774.yaml" />
+ <arg name="jobs" default="jobs/dummy.yaml" />
<!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
diff --git a/results/dummy/458759673.yaml b/results/dummy/-1243119928.yaml
similarity index 77%
rename from results/dummy/458759673.yaml
rename to results/dummy/-1243119928.yaml
index a04045c8b2ccb1c0482e903e30e1490c4be9c154..c885264731fd4a8e3a9dada6bb980b6901e90dbb 100644
--- a/results/dummy/458759673.yaml
+++ b/results/dummy/-1243119928.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/1877330159.yaml b/results/dummy/-1462055903.yaml
similarity index 78%
rename from results/dummy/1877330159.yaml
rename to results/dummy/-1462055903.yaml
index debf2617e76f0949ce5194f87813522a763a5286..3399169a7ec316cb74603089f8056ee64aa7f329 100644
--- a/results/dummy/1877330159.yaml
+++ b/results/dummy/-1462055903.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100008 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320006, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/1785190398.yaml b/results/dummy/-1704450111.yaml
similarity index 78%
rename from results/dummy/1785190398.yaml
rename to results/dummy/-1704450111.yaml
index b176d8932ceab14312f5a8dfff0152dd4a2e86b1..649ef1f56cbda376785178a4987cf2b4989d1568 100644
--- a/results/dummy/1785190398.yaml
+++ b/results/dummy/-1704450111.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.200000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-2018581763.yaml b/results/dummy/-1851930455.yaml
similarity index 78%
rename from results/dummy/-2018581763.yaml
rename to results/dummy/-1851930455.yaml
index aac56ec104763207e33b63c915f0250ecdc62f7b..2743fa8a2a5a264d20f8b7d8d716a7b1de789aa7 100644
--- a/results/dummy/-2018581763.yaml
+++ b/results/dummy/-1851930455.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.000000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/521654963.yaml b/results/dummy/-243824774.yaml
similarity index 92%
rename from results/dummy/521654963.yaml
rename to results/dummy/-243824774.yaml
index f5f9d33e763d2978d8df2d0a29256517fee32809..da5172d49ff5e79c970a8cea9111382f53d7ef84 100644
--- a/results/dummy/521654963.yaml
+++ b/results/dummy/-243824774.yaml
@@ -21,6 +21,8 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': -0.000000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.300000, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.11, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-1520672226.yaml b/results/dummy/-467577807.yaml
similarity index 77%
rename from results/dummy/-1520672226.yaml
rename to results/dummy/-467577807.yaml
index 412d3a90ccfb314d3637b582ae8f95f4e8a46002..a5867a7c41ebe36204f3f1024f69fb537813beaa 100644
--- a/results/dummy/-1520672226.yaml
+++ b/results/dummy/-467577807.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.119998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-1075241701.yaml b/results/dummy/-702828614.yaml
similarity index 77%
rename from results/dummy/-1075241701.yaml
rename to results/dummy/-702828614.yaml
index 2453c8b945f9b0bdd00fded162b55ff39a0455ec..d2869c513bce4a5cdc759ceee4d88d7c0489ba7b 100644
--- a/results/dummy/-1075241701.yaml
+++ b/results/dummy/-702828614.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-747172288.yaml b/results/dummy/-720586033.yaml
similarity index 79%
rename from results/dummy/-747172288.yaml
rename to results/dummy/-720586033.yaml
index a5b7c4b08080111ce33aaa5248efe0372313d5a6..306a7197dea552b9ae1373a036c0a02eb28ebe0a 100644
--- a/results/dummy/-747172288.yaml
+++ b/results/dummy/-720586033.yaml
@@ -22,6 +22,13 @@
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.200000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.200007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_front_panel' , 'pos': { 'x': 0.452495 , 'y': 1.305000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.420002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.420005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-1932012666.yaml b/results/dummy/-755583968.yaml
similarity index 78%
rename from results/dummy/-1932012666.yaml
rename to results/dummy/-755583968.yaml
index 6d00c5bf4f7331fe0140377a1af9d5ef8fe37eae..6852f4e6bc2e0651445f77f0a4213aa8c0ab6111 100644
--- a/results/dummy/-1932012666.yaml
+++ b/results/dummy/-755583968.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': 0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-1486389907.yaml b/results/dummy/-999728640.yaml
similarity index 77%
rename from results/dummy/-1486389907.yaml
rename to results/dummy/-999728640.yaml
index 3765f0b0e3bd228aad5af554cc5c6abc888ba9e5..df60e8084f9eb22036f58048dd47153aa1e5faae 100644
--- a/results/dummy/-1486389907.yaml
+++ b/results/dummy/-999728640.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/1547658439.yaml b/results/dummy/1261526688.yaml
similarity index 77%
rename from results/dummy/1547658439.yaml
rename to results/dummy/1261526688.yaml
index 74d9be26b3709fdbc742e1876c094bd52524d0a3..5ae748eb5faa9e307e9cd1466c7b5388501ca2df 100644
--- a/results/dummy/1547658439.yaml
+++ b/results/dummy/1261526688.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.100004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-564062842.yaml b/results/dummy/1473687055.yaml
similarity index 77%
rename from results/dummy/-564062842.yaml
rename to results/dummy/1473687055.yaml
index 4977d3d8cb4d574574961e1d05928119b149e574..a761f8b6f0b58aa452409bf9c60dd61c49ec12e6 100644
--- a/results/dummy/-564062842.yaml
+++ b/results/dummy/1473687055.yaml
@@ -20,8 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
-{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.7, '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': 0.1, 'y': 1.11, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } } # target B
]}
\ No newline at end of file
diff --git a/results/dummy/-359616072.yaml b/results/dummy/1527063277.yaml
similarity index 77%
rename from results/dummy/-359616072.yaml
rename to results/dummy/1527063277.yaml
index 834012462268c32308ccade6eb994e17c92e5ebc..b10cf44e34a612b7122f4769e620a1767ee544af 100644
--- a/results/dummy/-359616072.yaml
+++ b/results/dummy/1527063277.yaml
@@ -20,8 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.219998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
-{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.7, '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': 0.1, 'y': 1.11, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } } # target B
]}
\ No newline at end of file
diff --git a/results/dummy/-1371934693.yaml b/results/dummy/1963457492.yaml
similarity index 77%
rename from results/dummy/-1371934693.yaml
rename to results/dummy/1963457492.yaml
index 08e3dfb058ead84e19164c8d5d353e338cccd0fc..c349c5296985caaa3633b0382a2f8129e2eb1ff3 100644
--- a/results/dummy/-1371934693.yaml
+++ b/results/dummy/1963457492.yaml
@@ -20,6 +20,13 @@
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.452498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-1632187836.yaml b/results/dummy/516584596.yaml
similarity index 78%
rename from results/dummy/-1632187836.yaml
rename to results/dummy/516584596.yaml
index e593b1a387eb9572b57935edaacf86a5bd4eaa23..621a38cb5193b99ed911dfedac943884c01e7ba0 100644
--- a/results/dummy/-1632187836.yaml
+++ b/results/dummy/516584596.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': -0.652502 , 'y': -0.000003 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.219998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/616242011.yaml b/results/dummy/713225941.yaml
similarity index 78%
rename from results/dummy/616242011.yaml
rename to results/dummy/713225941.yaml
index 78c5b6591e500a9ec08dfebedb644c404e1932be..74a4370f34e3d75d938d0580c83917ccee27cff3 100644
--- a/results/dummy/616242011.yaml
+++ b/results/dummy/713225941.yaml
@@ -21,6 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': -0.752502 , 'y': -0.000003 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.119998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
diff --git a/results/dummy/-277257222.yaml b/results/dummy/877736799.yaml
similarity index 78%
rename from results/dummy/-277257222.yaml
rename to results/dummy/877736799.yaml
index 3a8248c1c54218ce349126265bb84d473d1e6be5..9d6c3abc797bbcb97d4fbdc33febe143790b92b4 100644
--- a/results/dummy/-277257222.yaml
+++ b/results/dummy/877736799.yaml
@@ -21,9 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': 0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.552502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': 0.099997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
-{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.7, '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': 0.1, 'y': 1.11, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } } # target B
-
]}
\ No newline at end of file
diff --git a/results/dummy/-548755835.yaml b/results/dummy/978579717.yaml
similarity index 78%
rename from results/dummy/-548755835.yaml
rename to results/dummy/978579717.yaml
index 05dd9fb4df8fd654c43681c2dcc368eccfde979f..42183134cc97f311b09ebc6dce13e29a87974603 100644
--- a/results/dummy/-548755835.yaml
+++ b/results/dummy/978579717.yaml
@@ -21,8 +21,13 @@
{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
+{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, '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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
+{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 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': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
-{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.7, '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': 0.1, 'y': 1.11, 'z': 0.935500 },'size': { 'length': .0318, 'width': .0636, 'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'b': 1 } } # target B
]}
\ No newline at end of file
diff --git a/src/grasp_cell_routine.cpp b/src/grasp_cell_routine.cpp
deleted file mode 100644
index b79b3c5e3d87d17acff998052d06b152050b3ec3..0000000000000000000000000000000000000000
--- a/src/grasp_cell_routine.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "impl/abstract_robot.h"
-#include "impl/abstract_map_loader.h"
-#include "impl/map_loader.h"
-#include "impl/abstract_robot_element.h"
-#include "impl/abstract_robot_element_decorator.h"
-#include "impl/abstract_mediator.h"
-#include "impl/wing_moveit_decorator.h"
-#include "impl/wing.h"
-#include "impl/moveit_robot.h"
-#include "impl/collision_helper.h"
-#include <xmlrpcpp/XmlRpc.h>
-#include "reader/abstract_param_reader.h"
-#include "reader/robot_reader.h"
-#include "reader/wing_reader.h"
-#include "reader/cuboid_reader.h"
-
-#include <moveit_grasps/two_finger_grasp_generator.h>
-#include <moveit_grasps/two_finger_grasp_data.h>
-#include <moveit_grasps/two_finger_grasp_filter.h>
-#include <moveit_grasps/grasp_planner.h>
-
-
-
-int main(int argc, char **argv){
- ros::init(argc, argv, "grasp_cell_routine");
- std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();
- ros::AsyncSpinner spinner(1);
- spinner.start();
-
- XmlRpc::XmlRpcValue map, task;
-
- nnh->getParam("/data",map);
- nnh->getParam("/task/groups",task);
-
-
- Abstract_map_loader* map_loader = new Map_loader(map, task);
-
-
- ros::Publisher* pub = new ros::Publisher(nnh->advertise< visualization_msgs::MarkerArray >("visualization_marker_array", 1)); //refractor
- Abstract_mediator* mediator = new Moveit_grasp_mediator(map_loader->task_grasps(), pub, nnh);
- Moveit_grasp_mediator* moveit_grasp_mediator = dynamic_cast<Moveit_grasp_mediator*>(mediator);
-
- moveit_grasp_mediator->mediate();
-
-
- while (ros::ok()){
- ros::spinOnce();
- }
-}
\ No newline at end of file
diff --git a/src/mediator/abstract_mediator.cpp b/src/mediator/abstract_mediator.cpp
index bab33cb35967c4cf1d2a58a0bc1569ba1550b69e..133ea661953c4c674c9a10ca5de5f2d88922aff0 100644
--- a/src/mediator/abstract_mediator.cpp
+++ b/src/mediator/abstract_mediator.cpp
@@ -5,6 +5,7 @@ AbstractMediator::AbstractMediator(std::shared_ptr<ros::NodeHandle> const& d)
, task_space_reader_(std::make_unique<TSReader>(d))
, wing_reader_(std::make_unique<WingReader>(d))
, robot_reader_(std::make_unique<RobotReader>(d))
+ , cuboid_reader_(std::make_unique<CuboidReader>(d))
{}
pcl::PointCloud< pcl::PointXYZ >::Ptr AbstractMediator::vector2cloud(std::vector<pcl::PointXYZ>& vector){
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
index 490a306d3f837ee9a12cb2af6f44f94617ff2b86..9050579ad467a91268cc5ed204f0e29ec353a6c9 100644
--- a/src/mediator/base_calculation_mediator.cpp
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -556,6 +556,16 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
std::stringstream ss;
std::stringstream panel_ss;
std::stringstream root_ss;
+ std::stringstream box_ss;
+
+
+ for (auto& box : cuboid_reader_->cuboidBin()){
+ box_ss << "{ 'id': '" << box.Name << "', 'type': 'BOX', 'pos': { 'x': "<<box.Pose.position.x<<", 'y': "<<box.Pose.position.y<<", 'z': "<< box.Pose.position.z<<" },'size': { 'length': "<< box.x_depth<<", 'width': "<<box.y_width<<", 'height': "<< box.z_heigth<<" },'orientation': { 'x':"<< box.Pose.orientation.x <<", 'y':" << box.Pose.orientation.y<< ", 'z':" << box.Pose.orientation.z << ", 'w':" << box.Pose.orientation.w<< "},'color': { 'b': 1 } }, \n";
+ }
+
+ for (auto& box : cuboid_reader_->cuboidObstacle()){
+ box_ss << "{ 'id': '" << box.Name << "', 'type': 'BIN', 'pos': { 'x': "<<box.Pose.position.x<<", 'y': "<<box.Pose.position.y<<", 'z': "<< box.Pose.position.z<<" },'size': { 'length': "<< box.x_depth<<", 'width': "<<box.y_width<<", 'height': "<< box.z_heigth<<" },'orientation': { 'x':"<< box.Pose.orientation.x <<", 'y':" << box.Pose.orientation.y<< ", 'z':" << box.Pose.orientation.z << ", 'w':" << box.Pose.orientation.w<< "},'color': { 'b': 1 } }, \n";
+ }
ss << "{ 'objects' : [ \n";
for (int c = 0; c < wc_solution.size(); c++){
@@ -637,6 +647,7 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
std::ofstream o(ros::package::getPath("multi_cell_builder") + "/results/"+ filename_ + "/" + std::to_string(static_cast<int>(ros::Time::now().toNSec())) + ".yaml");
ss << panel_ss.str();
+ ss << box_ss.str();
ss << root_ss.str();
ss << "]}";
o << ss.str();
diff --git a/src/mediator/moveit_mediator.cpp b/src/mediator/moveit_mediator.cpp
index 3d71f7a2e6bbcc1f3a3783702a14068b256a466d..ee307a0e9f404ed5a1b746fcf4a1e0f2b7d93c1f 100644
--- a/src/mediator/moveit_mediator.cpp
+++ b/src/mediator/moveit_mediator.cpp
@@ -16,8 +16,7 @@ MoveitMediator::MoveitMediator(std::shared_ptr<ros::NodeHandle> const& nh)
, psi_(std::make_unique<moveit::planning_interface::PlanningSceneInterface>())
, mgi_(std::make_shared<moveit::planning_interface::MoveGroupInterface>("panda_arms"))
, planning_scene_diff_publisher_(std::make_shared<ros::Publisher>(nh_->advertise<moveit_msgs::PlanningScene>("planning_scene", 1)))
- , job_reader_(std::make_unique<JobReader>(nh_))
- , cuboid_reader_(std::make_unique<CuboidReader>(nh)){
+ , job_reader_(std::make_unique<JobReader>(nh_)){
robot_model_loader::RobotModelLoaderPtr robot_model_loader;
robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>("robot_description");
@@ -390,7 +389,7 @@ void MoveitMediator::taskPlanner(){
} catch (std::out_of_range& oor){
continue;
}
- ss << "<Control ID=\"Parallel_robot\" name=\""<< s_r.first << "\" success_threshold=\""<< task_but_different.at(s_r.first).size() << "\" failure_threshold=\""<< task_but_different.at(s_r.first).size() << "\">\n";
+ ss << "<Control ID=\"Parallel_robot\" name=\""<< s_r.first << "\" success_threshold=\""<< task_but_different.at(s_r.first).size() << "\" failure_threshold=\""<< 1 << "\">\n";
for (auto& p_obj: task_but_different.at(s_r.first)){
ss << "<SequenceStar name=\"root_sequence\">\n";
ss << "<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n";
diff --git a/test/reader/test_bt.cpp b/test/reader/test_bt.cpp
index 41a46bea481486c4b99a2aabfe378746bb6f7a37..efe59b76de44d25f78fcdac562bb36c0b6ff8d2d 100644
--- a/test/reader/test_bt.cpp
+++ b/test/reader/test_bt.cpp
@@ -154,43 +154,36 @@ TEST(BtTestSuit, ComplexCooperativeTest){
ASSERT_EQ(cb_jd.size(), 3); // All jobs
}
-TEST(BtTestSuit, bahviorTest){
- //std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> psi_ = std::make_unique<moveit::planning_interface::PlanningSceneInterface>();
- BT::BehaviorTreeFactory factory;
- factory.registerNodeType<Execution>("Execution");
- factory.registerNodeType<PositionCondition>("PositionCondition");
- factory.registerNodeType<Parallel_robot>("Parallel_robot");
-
- std::vector<std::string> robots_ = {"panda_arm1", "panda_arm2"};
- std::map<std::string, std::vector<std::tuple<std::string, tf2::Vector3, std::vector<tf2::Vector3>>>> tasks;
-
- tasks["panda_arm1"].push_back({"box1", tf2::Vector3(0,0,0), {tf2::Vector3(0,0,0)}});
- tasks["panda_arm2"].push_back({"box2", tf2::Vector3(0,0,0), {tf2::Vector3(0,0,0)}});
-
-
- std::stringstream ss;
- ss << "<root main_tree_to_execute = \"MainTree\">\n";
- ss << "<BehaviorTree ID=\"MainTree\">\n";
- ss << "<Control ID=\"Parallel\" name=\"Agents\" success_threshold=\"2\" failure_threshold=\"2\">\n";
-
- for (auto& rob : robots_){
- ss << "<Control ID=\"Parallel_robot\" name=\""<< rob <<"\" success_threshold=\"3\" failure_threshold=\"3\">\n";
- for(auto& task : tasks){
- ss << "<SequenceStar name=\"root_sequence\">\n";
- ss << "<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n";
- ss << "<Action ID=\"Execution\" name=\"Execution\"/>\n";
- ss << "</SequenceStar>\n";
+TEST(BaseTestSuit, stringTest){
+ std::map<std::string, std::vector<tf2::Vector3>> input_map = {
+ {"a", {tf2::Vector3(0,0,0), tf2::Vector3(1,0,0)}},
+ {"b", {tf2::Vector3(1,0,0), tf2::Vector3(2,0,0)}},
+ {"c", {tf2::Vector3(0,1,0), tf2::Vector3(0,2,0)}}
+ };
+
+ std::vector<std::vector<std::string>> result;
+ std::set<std::string> keysUsed;
+
+ for (const auto& pair1 : input_map) {
+ if (keysUsed.count(pair1.first) > 0) continue;
+
+ auto lastVector1 = pair1.second.back();
+ std::vector<std::string> group = {pair1.first};
+
+ for (const auto& pair2 : input_map) {
+ if (pair1.first == pair2.first || keysUsed.count(pair2.first) > 0) continue;
+ auto firstVector2 = pair2.second.front();
+
+ if (lastVector1 == firstVector2) {
+ group.push_back(pair2.first);
+ lastVector1 = pair2.second.back();
+ keysUsed.insert(pair2.first);
+ }
}
- ss << "</Control>\n";
+ result.push_back(group);
}
- ss << "</Control>\n";
- ss << "</BehaviorTree>\n";
- ss << "</root>\n";
-
- auto tree = factory.createTreeFromText(ss.str());
- auto node_it = tree.nodes.begin();
- ASSERT_TRUE(true);
+ ASSERT_EQ(result.size(),2);
}