Skip to content
Snippets Groups Projects
Commit 5a69b183 authored by KingMaZito's avatar KingMaZito
Browse files

generate 'sortierkonfiguartion' for each robot as result, can be run with...

generate 'sortierkonfiguartion' for each robot as result, can be run with auerswald package, ToDo: generate launch files
parent 1f61d508
Branches
No related tags found
No related merge requests found
Showing
with 161 additions and 14 deletions
...@@ -18,12 +18,12 @@ class GraspMediator : public AbstractMediator{ ...@@ -18,12 +18,12 @@ class GraspMediator : public AbstractMediator{
std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_; //!< Planningscene monitor 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::unique_ptr<moveit_grasps_demo::GraspPipelineDemo> grasp_pipeline_demo_; //!< Auerswald grasp pipeline
std::string referenceRobot_; //!< Reference Robot std::string referenceRobot_; //!< Reference Robot
bool autoMapping_;//!< override graspmap config
public: public:
GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh); GraspMediator(std::shared_ptr<ros::NodeHandle> const& nh);
void mediate() override; void mediate() override;
inline void setReferenceRobot(std::string& str) {referenceRobot_ = str;}
void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override; void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override;
void setPanel() override; void setPanel() override;
......
<launch> <launch>
<!-- specify the planning pipeline --> <!-- specify the planning pipeline -->
<arg name="reference_robot" default="panda_arm1" /> <arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.320002 -0.000003 0.89" /> <arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.22 -0.2 0.89" />
<arg name="referenceRPY" default="0 0 0" /> <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 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"> $(arg autoMapping)</rosparam>
<arg name="pipeline" default="ompl" /> <arg name="pipeline" default="ompl" />
...@@ -86,7 +89,7 @@ ...@@ -86,7 +89,7 @@
<param name="planning_group_name" value="panda_arm_hand"/> <param name="planning_group_name" value="panda_arm_hand"/>
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(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> </node>
<!-- Planning Functionality --> <!-- Planning Functionality -->
......
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
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
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
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
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
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
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
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
...@@ -7,7 +7,7 @@ ...@@ -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_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_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_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_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_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 }}, { '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 @@ ...@@ -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_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_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_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' : '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': -0.100004 , '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_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': 0.552498 , '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_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': -0.100000 , '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': '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': -0.100007 , '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_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': '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': '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 } }, { '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 @@ ...@@ -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': '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': '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': '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': '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': -0.320005, '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': '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
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
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
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
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
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment