diff --git a/include/mediator/grasp_mediator.h b/include/mediator/grasp_mediator.h
index 2428b23e1aafb5ed27d9881fe4462b67e2c08245..e0e6d3446ffe87fe5c9b25bc13306d5588f59f98 100644
--- a/include/mediator/grasp_mediator.h
+++ b/include/mediator/grasp_mediator.h
@@ -18,12 +18,12 @@ class GraspMediator : public AbstractMediator{
std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_; //!< Planningscene monitor
std::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> grasp_pipeline_demo_; //!< Auerswald grasp pipeline
std::string referenceRobot_; //!< Reference Robot
+ bool autoMapping_;//!< override graspmap config
public:
GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh);
void mediate() override;
- inline void setReferenceRobot(std::string& str) {referenceRobot_ = str;}
void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override;
void setPanel() override;
diff --git a/launch/config_routine.launch b/launch/config_routine.launch
index c397a43f143824887b81231b095bed41f1b9f4fd..0364939a024846e1bc72d40c36105c829bbcdb17 100644
--- a/launch/config_routine.launch
+++ b/launch/config_routine.launch
@@ -1,15 +1,18 @@
<launch>
<!-- specify the planning pipeline -->
- <arg name="reference_robot" default="panda_arm1" />
- <arg name="referenceXYZ" default="-0.320002 -0.000003 0.89" />
+ <arg name="referenceRobot" default="panda_arm1" />
+ <arg name="autoMapping" default="true" />
+ <arg name="referenceXYZ" default="-0.22 -0.2 0.89" />
<arg name="referenceRPY" default="0 0 0" />
- <arg name="result" default="dummy/-243824774.yaml" />
+ <arg name="result" default="dummy/-276051748/-276051748.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
- <rosparam param="reference_robot" subst_value="True"> $(arg reference_robot)</rosparam>
+ <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
+ <rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam>
+
<arg name="pipeline" default="ompl" />
@@ -86,7 +89,7 @@
<param name="planning_group_name" value="panda_arm_hand"/>
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
- <rosparam command="load" file="$(find gb_grasp)/config/grasp_map_config.yaml"/>
+ <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-276051748/configs/-276051748_panda_arm1.yaml"/>
</node>
<!-- Planning Functionality -->
diff --git a/results/dummy/-1243119928.yaml b/results/dummy/-1234778859/-1234778859.yaml
similarity index 100%
rename from results/dummy/-1243119928.yaml
rename to results/dummy/-1234778859/-1234778859.yaml
diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml b/results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3fe15e169d20ed9bf60f7f47c30c08264b59ea37
--- /dev/null
+++ b/results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml b/results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f727ffed2ed80a2135522596931a5384403f5b8c
--- /dev/null
+++ b/results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/877736799.yaml b/results/dummy/-1505208581/-1505208581.yaml
similarity index 100%
rename from results/dummy/877736799.yaml
rename to results/dummy/-1505208581/-1505208581.yaml
diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml b/results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..df52dd3c6a6708a8e42635fa30f8d7188f20450b
--- /dev/null
+++ b/results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml b/results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72a394f9fb601eb939a77aca534b3a13b89510ef
--- /dev/null
+++ b/results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-5.30321e-06, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-5.30321e-06, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/978579717.yaml b/results/dummy/-1775841698/-1775841698.yaml
similarity index 100%
rename from results/dummy/978579717.yaml
rename to results/dummy/-1775841698/-1775841698.yaml
diff --git a/results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml b/results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9e7ef240c1387a89eb3396014c64e9245c19c
--- /dev/null
+++ b/results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -0.100002, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -0.100002, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml b/results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0ae335f34c2a485a84c067bf68cf556cd9840164
--- /dev/null
+++ b/results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-5.30321e-06, 1.205, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-5.30321e-06, 1.205, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/516584596.yaml b/results/dummy/-1982814221/-1982814221.yaml
similarity index 100%
rename from results/dummy/516584596.yaml
rename to results/dummy/-1982814221/-1982814221.yaml
diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml b/results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bbf69db04ec5e4a1b96c795bca5de845ff570379
--- /dev/null
+++ b/results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -2.04146e-06, 0.91], 'rot': [0, -0, -3.14159], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -2.04146e-06, 0.99], 'rot': [0, -0, -3.14159]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml b/results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9d1f0b5891e251f6a809367045e6826f28b9c4ca
--- /dev/null
+++ b/results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-3.67233e-06, 1.305, 0.91], 'rot': [0, -0, 1.33714e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-3.67233e-06, 1.305, 0.99], 'rot': [0, -0, 1.33714e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-243824774.yaml b/results/dummy/-276051748/-276051748.yaml
similarity index 87%
rename from results/dummy/-243824774.yaml
rename to results/dummy/-276051748/-276051748.yaml
index 841590a692ac7212b62ff5c7139fd0a7cb357be8..0a68d83100748ebd8390776025b908278b6fe975 100644
--- a/results/dummy/-243824774.yaml
+++ b/results/dummy/-276051748/-276051748.yaml
@@ -7,7 +7,7 @@
{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
+{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'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' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'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' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'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 }},
@@ -16,11 +16,11 @@
{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ '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_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' : 'table2_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
+{ '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_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': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
{ 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
{ 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
@@ -30,6 +30,6 @@
{ 'id': 'object4','type': 'BOX','pos': { 'x': -0.6,'y': -0.4,'z': 0.996 }, 'size': { 'length': 0.031,'width': 0.062,'height': 0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'object5','type': 'BOX','pos': { 'x': -0.4,'y': -0.5,'z': 0.959 }, 'size': { 'length': 0.031,'width': 0.031,'height': 0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
{ 'id': 'obstacle1','pos': { 'x': 0.34,'y': -0.11,'z': 0.94 }, 'size': { 'length': 0.3,'width': 0.3,'height': 0.1 },'orientation': { 'z': 0.452123,'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 } },
+{ '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/-276051748/configs/-276051748_panda_arm1.yaml b/results/dummy/-276051748/configs/-276051748_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f294e9975eeaae6e08896ebca5ff416f4d666a39
--- /dev/null
+++ b/results/dummy/-276051748/configs/-276051748_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -0.200002, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
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diff --git a/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml b/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9bc7e19ca5fcdddc7f76d4cd9cfae6886882edeb
--- /dev/null
+++ b/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml
@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-1462055903.yaml b/results/dummy/-317753156/-317753156.yaml
similarity index 100%
rename from results/dummy/-1462055903.yaml
rename to results/dummy/-317753156/-317753156.yaml
diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm1.yaml b/results/dummy/-317753156/configs/-317753156_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4359a90fcc1364055253bdf15a83405f926a46d8
--- /dev/null
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diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml b/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5e62f59dd6f013701fa9f21a1d299b03cb975808
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-467577807.yaml b/results/dummy/-348871069/-348871069.yaml
similarity index 100%
rename from results/dummy/-467577807.yaml
rename to results/dummy/-348871069/-348871069.yaml
diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm1.yaml b/results/dummy/-348871069/configs/-348871069_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3be7bc776246dc9a3aa02a333b81bbc3618034c4
--- /dev/null
+++ b/results/dummy/-348871069/configs/-348871069_panda_arm1.yaml
@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml b/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b351ce4d8a76ccea7f18b3434706efeff52fa2c4
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-702828614.yaml b/results/dummy/-509770749/-509770749.yaml
similarity index 100%
rename from results/dummy/-702828614.yaml
rename to results/dummy/-509770749/-509770749.yaml
diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm1.yaml b/results/dummy/-509770749/configs/-509770749_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9e7ef240c1387a89eb3396014c64e9245c19c
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm2.yaml b/results/dummy/-509770749/configs/-509770749_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0ae335f34c2a485a84c067bf68cf556cd9840164
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diff --git a/results/dummy/-999728640.yaml b/results/dummy/-650013114/-650013114.yaml
similarity index 100%
rename from results/dummy/-999728640.yaml
rename to results/dummy/-650013114/-650013114.yaml
diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm1.yaml b/results/dummy/-650013114/configs/-650013114_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3714fe613a3d628e4f1ab04a49a73983a2e9a840
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm2.yaml b/results/dummy/-650013114/configs/-650013114_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..532e48d9d3a32c9821d4810064d15b167b6609ed
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/1261526688.yaml b/results/dummy/1334033851/1334033851.yaml
similarity index 100%
rename from results/dummy/1261526688.yaml
rename to results/dummy/1334033851/1334033851.yaml
diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm1.yaml b/results/dummy/1334033851/configs/1334033851_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4040d4a8d08912efa7a998d07a116b8b456f229d
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diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm2.yaml b/results/dummy/1334033851/configs/1334033851_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54ae0dc80af2857d9ef9af86ddad666dd07121be
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/1473687055.yaml b/results/dummy/1879793725/1879793725.yaml
similarity index 100%
rename from results/dummy/1473687055.yaml
rename to results/dummy/1879793725/1879793725.yaml
diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm1.yaml b/results/dummy/1879793725/configs/1879793725_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..df52dd3c6a6708a8e42635fa30f8d7188f20450b
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm2.yaml b/results/dummy/1879793725/configs/1879793725_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72a394f9fb601eb939a77aca534b3a13b89510ef
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/1527063277.yaml b/results/dummy/1938185681/1938185681.yaml
similarity index 100%
rename from results/dummy/1527063277.yaml
rename to results/dummy/1938185681/1938185681.yaml
diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm1.yaml b/results/dummy/1938185681/configs/1938185681_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bbf69db04ec5e4a1b96c795bca5de845ff570379
--- /dev/null
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diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm2.yaml b/results/dummy/1938185681/configs/1938185681_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9d1f0b5891e251f6a809367045e6826f28b9c4ca
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/713225941.yaml b/results/dummy/1938901935/1938901935.yaml
similarity index 100%
rename from results/dummy/713225941.yaml
rename to results/dummy/1938901935/1938901935.yaml
diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm1.yaml b/results/dummy/1938901935/configs/1938901935_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3be7bc776246dc9a3aa02a333b81bbc3618034c4
--- /dev/null
+++ b/results/dummy/1938901935/configs/1938901935_panda_arm1.yaml
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diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml b/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b351ce4d8a76ccea7f18b3434706efeff52fa2c4
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/results/dummy/1963457492.yaml b/results/dummy/2082550165/2082550165.yaml
similarity index 100%
rename from results/dummy/1963457492.yaml
rename to results/dummy/2082550165/2082550165.yaml
diff --git a/results/dummy/2082550165/configs/2082550165_panda_arm1.yaml b/results/dummy/2082550165/configs/2082550165_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f294e9975eeaae6e08896ebca5ff416f4d666a39
--- /dev/null
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diff --git a/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml b/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9bc7e19ca5fcdddc7f76d4cd9cfae6886882edeb
--- /dev/null
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diff --git a/results/dummy/-755583968.yaml b/results/dummy/493882106/493882106.yaml
similarity index 100%
rename from results/dummy/-755583968.yaml
rename to results/dummy/493882106/493882106.yaml
diff --git a/results/dummy/493882106/configs/493882106_panda_arm1.yaml b/results/dummy/493882106/configs/493882106_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3fe15e169d20ed9bf60f7f47c30c08264b59ea37
--- /dev/null
+++ b/results/dummy/493882106/configs/493882106_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, 0.099998, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, 0.099998, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/493882106/configs/493882106_panda_arm2.yaml b/results/dummy/493882106/configs/493882106_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f727ffed2ed80a2135522596931a5384403f5b8c
--- /dev/null
+++ b/results/dummy/493882106/configs/493882106_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.405, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.405, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-720586033.yaml b/results/dummy/66805984/66805984.yaml
similarity index 100%
rename from results/dummy/-720586033.yaml
rename to results/dummy/66805984/66805984.yaml
diff --git a/results/dummy/66805984/configs/66805984_panda_arm1.yaml b/results/dummy/66805984/configs/66805984_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..74bd7bbc57a924d4b3a02a52ae79785a0473997d
--- /dev/null
+++ b/results/dummy/66805984/configs/66805984_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.200002, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.200002, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/66805984/configs/66805984_panda_arm2.yaml b/results/dummy/66805984/configs/66805984_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0908f3ff6a093af3b49a6254fa9d94bf87d33045
--- /dev/null
+++ b/results/dummy/66805984/configs/66805984_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.200005, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.200005, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1704450111.yaml b/results/dummy/812255525/812255525.yaml
similarity index 86%
rename from results/dummy/-1704450111.yaml
rename to results/dummy/812255525/812255525.yaml
index 649ef1f56cbda376785178a4987cf2b4989d1568..60606058c3b2ddf11f12e90bc2c7a05147fcf7a2 100644
--- a/results/dummy/-1704450111.yaml
+++ b/results/dummy/812255525/812255525.yaml
@@ -7,7 +7,7 @@
{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
+{ 'id' : 'table1_table_top', 'pos': { 'x': -0.100002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'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' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'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' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'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 }},
@@ -16,11 +16,11 @@
{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
-{ '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_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' : 'table2_table_top', 'pos': { 'x': -0.100005 , 'y': 1.304998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'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 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } },
+{ '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_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': 0.1, '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 } },
@@ -28,6 +28,6 @@
{ '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 } },
+{ '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/812255525/configs/812255525_panda_arm1.yaml b/results/dummy/812255525/configs/812255525_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4040d4a8d08912efa7a998d07a116b8b456f229d
--- /dev/null
+++ b/results/dummy/812255525/configs/812255525_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100002, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/812255525/configs/812255525_panda_arm2.yaml b/results/dummy/812255525/configs/812255525_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54ae0dc80af2857d9ef9af86ddad666dd07121be
--- /dev/null
+++ b/results/dummy/812255525/configs/812255525_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100005, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-0.100005, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/-1851930455.yaml b/results/dummy/95613651/95613651.yaml
similarity index 100%
rename from results/dummy/-1851930455.yaml
rename to results/dummy/95613651/95613651.yaml
diff --git a/results/dummy/95613651/configs/95613651_panda_arm1.yaml b/results/dummy/95613651/configs/95613651_panda_arm1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3714fe613a3d628e4f1ab04a49a73983a2e9a840
--- /dev/null
+++ b/results/dummy/95613651/configs/95613651_panda_arm1.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-2.04146e-06, -2.04146e-06, 0.91], 'rot': [0, -0, 2.49943e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -2.04146e-06, 0.99], 'rot': [0, -0, 2.49943e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/results/dummy/95613651/configs/95613651_panda_arm2.yaml b/results/dummy/95613651/configs/95613651_panda_arm2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..532e48d9d3a32c9821d4810064d15b167b6609ed
--- /dev/null
+++ b/results/dummy/95613651/configs/95613651_panda_arm2.yaml
@@ -0,0 +1,12 @@
+mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-5.30321e-06, 1.305, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false }
+voxel_size: 0.02
+voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-5.30321e-06, 1.305, 0.99], 'rot': [0, -0, 2.67427e-06]}
+voxel_verbose_level: 0
+translation_rate: 0.03
+rotation_rate: 45.0
+rotation_max: 90.0
+clearance: 0.01
+min_quality: 0.1
+max_candidate_count: 10
+allow_dependencies: true
+top_grasps_only: true
diff --git a/src/config_routine.cpp b/src/config_routine.cpp
index cf9976eb56ed4f03a2fa162c666a9e8068084ebe..c333c3e88bf320917d845634fccf70c8999ed958 100644
--- a/src/config_routine.cpp
+++ b/src/config_routine.cpp
@@ -7,7 +7,7 @@
int main(int argc, char *argv[]) {
- ros::init(argc, argv, "config_routine");
+ ros::init(argc, argv, "config_routine");
std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
// Allow the action server to recieve and send ros messages
@@ -23,9 +23,6 @@ int main(int argc, char *argv[]) {
mediator->connectRobots(std::move(ceti_panda));
}
- std::string demo_robot;
- n->getParam("/reference_robot", demo_robot);
- mediator->setReferenceRobot(demo_robot);
mediator->mediate();
while (ros::ok()){
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
index e13a242b30eacabbd21b9925a19747ed275caa1e..a8f79de7500a9cf97df5998eddd26b466d85edae 100644
--- a/src/mediator/base_calculation_mediator.cpp
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -553,6 +553,12 @@ void Base_calculation_mediator::write_file(){
*/
void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution){
+
+ std::string resultFile = std::to_string(static_cast<int>(ros::Time::now().toNSec()));
+ std::filesystem::create_directory(ros::package::getPath("multi_cell_builder") + "/results/" + filename_ + "/" + resultFile);
+ std::filesystem::create_directory(ros::package::getPath("multi_cell_builder") + "/results/" + filename_ + "/" + resultFile + "/configs");
+ std::filesystem::create_directory(ros::package::getPath("multi_cell_builder") + "/results/" + filename_ + "/" + resultFile + "/launch");
+
std::stringstream ss;
std::stringstream panel_ss;
std::stringstream root_ss;
@@ -604,6 +610,45 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution
ss << "{ 'id' : 'table" << match[1] << "_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n";
ss << "{ 'id' : 'table" << match[1] << "_table_top', 'pos': { 'x': " << std::to_string(pos_x) << " , 'y': "<< std::to_string(pos_y) << " , 'z': "<< std::to_string(pos_z) << " },'size': { 'length': "<< std::to_string(size_x) << " ,'width': "<< std::to_string(size_y) << " ,'height': "<< std::to_string(size_z) << " },'orientation': { 'x': " << std::to_string(rot_x) << " , 'y': " << std::to_string(rot_y) << " , 'z': " << std::to_string(rot_z) << " , 'w': " << std::to_string(rot_w) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': " << std::to_string(r) << " , 'p': " << std::to_string(p) << " , 'y': " << std::to_string(y) << " } },\n";
+ std::stringstream config;
+ config << "mapspace: {'dim': [";
+ config << size_x/2 << ", ";
+ config << size_y/2 << ", 0.04], ";
+ config << "'pos': [";
+ config << pos_x << ", ";
+ config << pos_y << ", ";
+ config << (pos_z + size_z/2.0f + 0.04f/2.0f) << "], ";
+ config << "'rot': [";
+ config << r << ", " << p << ", " << y <<"], ";
+ config << "'verbose': false }\n";
+
+ config << "voxel_size: 0.02 \n";
+
+ config << "voxel_space: {'dim': [";
+ config << (size_x + 0.1f)/2 << ", ";
+ config << (size_y + 0.1f)/2 << ", 0.2], ";
+ config << "'pos': [";
+ config << pos_x << ", ";
+ config << pos_y << ", ";
+ config << (pos_z + size_z/2.0f + 0.2f/2.0f) << "], ";
+ config << "'rot': [";
+ config << r << ", " << p << ", " << y <<"]}\n";
+
+ config << "voxel_verbose_level: 0\n";
+ config << "translation_rate: 0.03\n";
+ config << "rotation_rate: 45.0\n";
+ config << "rotation_max: 90.0\n";
+ config << "clearance: 0.01\n";
+ config << "min_quality: 0.1\n";
+ config << "max_candidate_count: 10\n";
+ config << "allow_dependencies: true\n";
+ config << "top_grasps_only: true\n";
+
+ std::ofstream o(ros::package::getPath("multi_cell_builder") + "/results/"+ filename_ + "/" + resultFile + "/configs/" + resultFile + "_"+ wc_solution[c].name_+".yaml");
+ o << config.str();
+ o.close();
+
+
std::bitset<3> panel_mask(wc_solution[c].wing_config_);
for(std::size_t i = 0; i < ceti->observers().size(); i++){
if(ceti->observerMask()[i] & panel_mask[i]){
@@ -645,7 +690,7 @@ 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");
+ std::ofstream o(ros::package::getPath("multi_cell_builder") + "/results/"+ filename_ + "/" + resultFile + "/" + resultFile + ".yaml");
ss << panel_ss.str();
ss << box_ss.str();
ss << root_ss.str();
diff --git a/src/mediator/grasp_mediator.cpp b/src/mediator/grasp_mediator.cpp
index dfa9bd8e4a7a48f2adfed56b36298077f21de2bb..cfce4fd0f51fdc11224330476e973aac18be8d0f 100644
--- a/src/mediator/grasp_mediator.cpp
+++ b/src/mediator/grasp_mediator.cpp
@@ -2,9 +2,12 @@
GraspMediator::GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh)
: AbstractMediator(nh)
- , grasp_pipeline_demo_(std::make_unique<moveit_grasps_demo::GraspPipelineDemo>())
, planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description"))
+ , grasp_pipeline_demo_(std::make_unique<moveit_grasps_demo::GraspPipelineDemo>())
{
+ nh->getParam("/referenceRobot", referenceRobot_);
+ nh->getParam("/autoMapping", autoMapping_);
+
}
void GraspMediator::connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) {
@@ -51,6 +54,7 @@ void GraspMediator::setPanel(){
void GraspMediator::mediate() {
setPanel();
+ //if(autoMapping_)mapReconfigure();
ros::Duration(2).sleep();
std::vector<Cuboid> relevant_box;
std::vector<Cuboid> relevant_obstacle;
@@ -115,4 +119,4 @@ void GraspMediator::mediate() {
grasp_pipeline_demo_->getVoxelizedEnv();
grasp_pipeline_demo_->computeConfig();
grasp_pipeline_demo_->build();
-}
+}
\ No newline at end of file