From 5a69b183cedf66357c5271180735331bb9732eba Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Sun, 9 Apr 2023 16:54:39 +0200 Subject: [PATCH] generate 'sortierkonfiguartion' for each robot as result, can be run with auerswald package, ToDo: generate launch files --- include/mediator/grasp_mediator.h | 2 +- launch/config_routine.launch | 13 +++-- .../-1234778859.yaml} | 0 .../configs/-1234778859_panda_arm1.yaml | 12 +++++ .../configs/-1234778859_panda_arm2.yaml | 12 +++++ .../-1505208581.yaml} | 0 .../configs/-1505208581_panda_arm1.yaml | 12 +++++ .../configs/-1505208581_panda_arm2.yaml | 12 +++++ .../-1775841698.yaml} | 0 .../configs/-1775841698_panda_arm1.yaml | 12 +++++ .../configs/-1775841698_panda_arm2.yaml | 12 +++++ .../-1982814221.yaml} | 0 .../configs/-1982814221_panda_arm1.yaml | 12 +++++ .../configs/-1982814221_panda_arm2.yaml | 12 +++++ .../-276051748.yaml} | 16 +++---- .../configs/-276051748_panda_arm1.yaml | 12 +++++ .../configs/-276051748_panda_arm2.yaml | 12 +++++ .../-317753156.yaml} | 0 .../configs/-317753156_panda_arm1.yaml | 12 +++++ .../configs/-317753156_panda_arm2.yaml | 12 +++++ .../-348871069.yaml} | 0 .../configs/-348871069_panda_arm1.yaml | 12 +++++ .../configs/-348871069_panda_arm2.yaml | 12 +++++ .../-509770749.yaml} | 0 .../configs/-509770749_panda_arm1.yaml | 12 +++++ .../configs/-509770749_panda_arm2.yaml | 12 +++++ .../-650013114.yaml} | 0 .../configs/-650013114_panda_arm1.yaml | 12 +++++ .../configs/-650013114_panda_arm2.yaml | 12 +++++ .../1334033851.yaml} | 0 .../configs/1334033851_panda_arm1.yaml | 12 +++++ .../configs/1334033851_panda_arm2.yaml | 12 +++++ .../1879793725.yaml} | 0 .../configs/1879793725_panda_arm1.yaml | 12 +++++ .../configs/1879793725_panda_arm2.yaml | 12 +++++ .../1938185681.yaml} | 0 .../configs/1938185681_panda_arm1.yaml | 12 +++++ .../configs/1938185681_panda_arm2.yaml | 12 +++++ .../1938901935.yaml} | 0 .../configs/1938901935_panda_arm1.yaml | 12 +++++ .../configs/1938901935_panda_arm2.yaml | 12 +++++ .../2082550165.yaml} | 0 .../configs/2082550165_panda_arm1.yaml | 12 +++++ .../configs/2082550165_panda_arm2.yaml | 12 +++++ .../493882106.yaml} | 0 .../configs/493882106_panda_arm1.yaml | 12 +++++ .../configs/493882106_panda_arm2.yaml | 12 +++++ .../66805984.yaml} | 0 .../66805984/configs/66805984_panda_arm1.yaml | 12 +++++ .../66805984/configs/66805984_panda_arm2.yaml | 12 +++++ .../812255525.yaml} | 16 +++---- .../configs/812255525_panda_arm1.yaml | 12 +++++ .../configs/812255525_panda_arm2.yaml | 12 +++++ .../95613651.yaml} | 0 .../95613651/configs/95613651_panda_arm1.yaml | 12 +++++ .../95613651/configs/95613651_panda_arm2.yaml | 12 +++++ src/config_routine.cpp | 5 +- src/mediator/base_calculation_mediator.cpp | 47 ++++++++++++++++++- src/mediator/grasp_mediator.cpp | 8 +++- 59 files changed, 510 insertions(+), 29 deletions(-) rename results/dummy/{-1243119928.yaml => -1234778859/-1234778859.yaml} (100%) create mode 100644 results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml create mode 100644 results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml rename results/dummy/{877736799.yaml => -1505208581/-1505208581.yaml} (100%) create mode 100644 results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml create mode 100644 results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml rename results/dummy/{978579717.yaml => -1775841698/-1775841698.yaml} (100%) create mode 100644 results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml create mode 100644 results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml rename results/dummy/{516584596.yaml => -1982814221/-1982814221.yaml} (100%) create mode 100644 results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml create mode 100644 results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml rename results/dummy/{-243824774.yaml => -276051748/-276051748.yaml} (87%) create mode 100644 results/dummy/-276051748/configs/-276051748_panda_arm1.yaml create mode 100644 results/dummy/-276051748/configs/-276051748_panda_arm2.yaml rename results/dummy/{-1462055903.yaml => -317753156/-317753156.yaml} (100%) create mode 100644 results/dummy/-317753156/configs/-317753156_panda_arm1.yaml create mode 100644 results/dummy/-317753156/configs/-317753156_panda_arm2.yaml rename results/dummy/{-467577807.yaml => -348871069/-348871069.yaml} (100%) create mode 100644 results/dummy/-348871069/configs/-348871069_panda_arm1.yaml create mode 100644 results/dummy/-348871069/configs/-348871069_panda_arm2.yaml rename results/dummy/{-702828614.yaml => -509770749/-509770749.yaml} (100%) create mode 100644 results/dummy/-509770749/configs/-509770749_panda_arm1.yaml create mode 100644 results/dummy/-509770749/configs/-509770749_panda_arm2.yaml rename results/dummy/{-999728640.yaml => -650013114/-650013114.yaml} (100%) create mode 100644 results/dummy/-650013114/configs/-650013114_panda_arm1.yaml create mode 100644 results/dummy/-650013114/configs/-650013114_panda_arm2.yaml rename results/dummy/{1261526688.yaml => 1334033851/1334033851.yaml} (100%) create mode 100644 results/dummy/1334033851/configs/1334033851_panda_arm1.yaml create mode 100644 results/dummy/1334033851/configs/1334033851_panda_arm2.yaml rename results/dummy/{1473687055.yaml => 1879793725/1879793725.yaml} (100%) create mode 100644 results/dummy/1879793725/configs/1879793725_panda_arm1.yaml create mode 100644 results/dummy/1879793725/configs/1879793725_panda_arm2.yaml rename results/dummy/{1527063277.yaml => 1938185681/1938185681.yaml} (100%) create mode 100644 results/dummy/1938185681/configs/1938185681_panda_arm1.yaml create mode 100644 results/dummy/1938185681/configs/1938185681_panda_arm2.yaml rename results/dummy/{713225941.yaml => 1938901935/1938901935.yaml} (100%) create mode 100644 results/dummy/1938901935/configs/1938901935_panda_arm1.yaml create mode 100644 results/dummy/1938901935/configs/1938901935_panda_arm2.yaml rename results/dummy/{1963457492.yaml => 2082550165/2082550165.yaml} (100%) create mode 100644 results/dummy/2082550165/configs/2082550165_panda_arm1.yaml create mode 100644 results/dummy/2082550165/configs/2082550165_panda_arm2.yaml rename results/dummy/{-755583968.yaml => 493882106/493882106.yaml} (100%) create mode 100644 results/dummy/493882106/configs/493882106_panda_arm1.yaml create mode 100644 results/dummy/493882106/configs/493882106_panda_arm2.yaml rename results/dummy/{-720586033.yaml => 66805984/66805984.yaml} (100%) create mode 100644 results/dummy/66805984/configs/66805984_panda_arm1.yaml create mode 100644 results/dummy/66805984/configs/66805984_panda_arm2.yaml rename results/dummy/{-1704450111.yaml => 812255525/812255525.yaml} (86%) create mode 100644 results/dummy/812255525/configs/812255525_panda_arm1.yaml create mode 100644 results/dummy/812255525/configs/812255525_panda_arm2.yaml rename results/dummy/{-1851930455.yaml => 95613651/95613651.yaml} (100%) create mode 100644 results/dummy/95613651/configs/95613651_panda_arm1.yaml create mode 100644 results/dummy/95613651/configs/95613651_panda_arm2.yaml diff --git a/include/mediator/grasp_mediator.h b/include/mediator/grasp_mediator.h index 2428b23..e0e6d34 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 c397a43..0364939 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 0000000..3fe15e1 --- /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 0000000..f727ffe --- /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 0000000..df52dd3 --- /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 0000000..72a394f --- /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 0000000..5ca9e7e --- /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 0000000..0ae335f --- /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 0000000..bbf69db --- /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 0000000..9d1f0b5 --- /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 841590a..0a68d83 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 0000000..f294e99 --- /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 +voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -0.200002, 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/-276051748/configs/-276051748_panda_arm2.yaml b/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml new file mode 100644 index 0000000..9bc7e19 --- /dev/null +++ b/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-6.04679e-06, 1.4025, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false } +voxel_size: 0.02 +voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-6.04679e-06, 1.4025, 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/-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 0000000..4359a90 --- /dev/null +++ b/results/dummy/-317753156/configs/-317753156_panda_arm1.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100002, -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': [-0.100002, -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/-317753156/configs/-317753156_panda_arm2.yaml b/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml new file mode 100644 index 0000000..5e62f59 --- /dev/null +++ b/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100006, 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': [-0.100006, 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/-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 0000000..3be7bc7 --- /dev/null +++ b/results/dummy/-348871069/configs/-348871069_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, -3.14159], '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, -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/-348871069/configs/-348871069_panda_arm2.yaml b/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml new file mode 100644 index 0000000..b351ce4 --- /dev/null +++ b/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100004, 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': [-0.100004, 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/-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 0000000..5ca9e7e --- /dev/null +++ b/results/dummy/-509770749/configs/-509770749_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/-509770749/configs/-509770749_panda_arm2.yaml b/results/dummy/-509770749/configs/-509770749_panda_arm2.yaml new file mode 100644 index 0000000..0ae335f --- /dev/null +++ b/results/dummy/-509770749/configs/-509770749_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/-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 0000000..3714fe6 --- /dev/null +++ b/results/dummy/-650013114/configs/-650013114_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/-650013114/configs/-650013114_panda_arm2.yaml b/results/dummy/-650013114/configs/-650013114_panda_arm2.yaml new file mode 100644 index 0000000..532e48d --- /dev/null +++ b/results/dummy/-650013114/configs/-650013114_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/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 0000000..4040d4a --- /dev/null +++ b/results/dummy/1334033851/configs/1334033851_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/1334033851/configs/1334033851_panda_arm2.yaml b/results/dummy/1334033851/configs/1334033851_panda_arm2.yaml new file mode 100644 index 0000000..54ae0dc --- /dev/null +++ b/results/dummy/1334033851/configs/1334033851_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/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 0000000..df52dd3 --- /dev/null +++ b/results/dummy/1879793725/configs/1879793725_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/1879793725/configs/1879793725_panda_arm2.yaml b/results/dummy/1879793725/configs/1879793725_panda_arm2.yaml new file mode 100644 index 0000000..72a394f --- /dev/null +++ b/results/dummy/1879793725/configs/1879793725_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/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 0000000..bbf69db --- /dev/null +++ b/results/dummy/1938185681/configs/1938185681_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/1938185681/configs/1938185681_panda_arm2.yaml b/results/dummy/1938185681/configs/1938185681_panda_arm2.yaml new file mode 100644 index 0000000..9d1f0b5 --- /dev/null +++ b/results/dummy/1938185681/configs/1938185681_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/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 0000000..3be7bc7 --- /dev/null +++ b/results/dummy/1938901935/configs/1938901935_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, -3.14159], '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, -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/1938901935/configs/1938901935_panda_arm2.yaml b/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml new file mode 100644 index 0000000..b351ce4 --- /dev/null +++ b/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-0.100004, 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': [-0.100004, 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/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 0000000..f294e99 --- /dev/null +++ b/results/dummy/2082550165/configs/2082550165_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 +voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-2.04146e-06, -0.200002, 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/2082550165/configs/2082550165_panda_arm2.yaml b/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml new file mode 100644 index 0000000..9bc7e19 --- /dev/null +++ b/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml @@ -0,0 +1,12 @@ +mapspace: {'dim': [0.4, 0.4, 0.04], 'pos': [-6.04679e-06, 1.4025, 0.91], 'rot': [0, -0, 2.67427e-06], 'verbose': false } +voxel_size: 0.02 +voxel_space: {'dim': [0.45, 0.45, 0.2], 'pos': [-6.04679e-06, 1.4025, 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/-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 0000000..3fe15e1 --- /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 0000000..f727ffe --- /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 0000000..74bd7bb --- /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 0000000..0908f3f --- /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 649ef1f..6060605 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 0000000..4040d4a --- /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 0000000..54ae0dc --- /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 0000000..3714fe6 --- /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 0000000..532e48d --- /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 cf9976e..c333c3e 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 e13a242..a8f79de 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 dfa9bd8..cfce4fd 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 -- GitLab