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Commit c81c6f30 authored by KingMaZito's avatar KingMaZito
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results/dummy/1449337039/configs/1449337039_panda_arm2.yaml deleted 100644 → 0
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View file @ 482f041a
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
results/dummy/1449337039/launch/panda_arm1_1449337039.launch deleted 100644 → 0
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− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/1449337039/1449337039.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1449337039/launch/panda_arm2_1449337039.launch deleted 100644 → 0
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View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/1449337039/1449337039.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1449337039/configs/1449337039_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1878181496/1878181496.yaml deleted 100644 → 0
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View file @ 482f041a
{ 'objects' : [
{ 'id' : 'table1_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' : 'table1_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' : 'table1_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' : 'table1_wheel_4', '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' : 'table1_body_front', '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_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': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': -3.141591 } },
{ '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 }},
{ 'id' : 'table2_wheel_4', '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_body_front', '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_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': -0.000004 , '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': 0.000001 } },
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000001 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000003 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 1.000000 , 'w': -0.000001 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000005 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green1', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': 0.219998, 'y': -0.000002, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 1.000000, 'w': -0.000001 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220004, 'y': 1.304998, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
results/dummy/1878181496/configs/1878181496_panda_arm1.yaml deleted 100644 → 0
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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
results/dummy/1878181496/configs/1878181496_panda_arm2.yaml deleted 100644 → 0
+ 0
− 12
View file @ 482f041a
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
results/dummy/1878181496/launch/panda_arm1_1878181496.launch deleted 100644 → 0
+ 0
− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 -3.14159"/>
<arg name="result" default="dummy/1878181496/1878181496.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/1878181496/launch/panda_arm2_1878181496.launch deleted 100644 → 0
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− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
<arg name="result" default="dummy/1878181496/1878181496.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1878181496/configs/1878181496_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/2009508287/2009508287.yaml deleted 100644 → 0
+ 0
− 32
View file @ 482f041a
{ 'objects' : [
{ 'id' : 'table1_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' : 'table1_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' : 'table1_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' : 'table1_wheel_4', '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' : 'table1_body_front', '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_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' : '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 }},
{ 'id' : 'table2_wheel_4', '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_body_front', '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_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_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green1', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
results/dummy/2009508287/configs/2009508287_panda_arm1.yaml deleted 100644 → 0
+ 0
− 12
View file @ 482f041a
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
results/dummy/2009508287/configs/2009508287_panda_arm2.yaml deleted 100644 → 0
+ 0
− 12
View file @ 482f041a
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
results/dummy/2009508287/launch/panda_arm1_2009508287.launch deleted 100644 → 0
+ 0
− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/2009508287/2009508287.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/2009508287/launch/panda_arm2_2009508287.launch deleted 100644 → 0
+ 0
− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/2009508287/2009508287.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2009508287/configs/2009508287_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/2033083939/2033083939.yaml deleted 100644 → 0
+ 0
− 33
View file @ 482f041a
{ 'objects' : [
{ 'id' : 'table1_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' : 'table1_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' : 'table1_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' : 'table1_wheel_4', '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' : 'table1_body_front', '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_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' : '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 }},
{ 'id' : 'table2_wheel_4', '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_body_front', '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_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': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green1', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red1', 'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]}
\ No newline at end of file
results/dummy/2033083939/configs/2033083939_panda_arm1.yaml deleted 100644 → 0
+ 0
− 12
View file @ 482f041a
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
results/dummy/2033083939/configs/2033083939_panda_arm2.yaml deleted 100644 → 0
+ 0
− 12
View file @ 482f041a
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
results/dummy/2033083939/launch/panda_arm1_2033083939.launch deleted 100644 → 0
+ 0
− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/2033083939/2033083939.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm1.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/2033083939/launch/panda_arm2_2033083939.launch deleted 100644 → 0
+ 0
− 57
View file @ 482f041a
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/2033083939/2033083939.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
<arg name="pipeline" default="ompl"/>
<arg name="db" default="false"/>
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/>
<arg name="debug" default="false" />
<arg name="load_robot_description" default="true"/>
<arg name="moveit_controller_manager" default="fake"/>
<arg name="fake_execution_type" default="interpolate"/>
<arg name="use_gui" default="false"/>
<arg name="use_rviz" default="true"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/>
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>
</group>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
<arg name="referenceXYZ" value="$(arg referenceXYZ)"/>
<arg name="referenceRPY" value="$(arg referenceRPY)"/>
</include>
<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen">
<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
</node>
<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen">
<param name="gripper" value="two_finger"/>
<param name="ee_group_name" value="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/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2033083939/configs/2033083939_panda_arm2.yaml"/>
</node>
<arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
</launch>
results/dummy/451266307/451266307.yaml → results/dummy/2059996578/2059996578.yaml
+ 7
− 7
View file @ c81c6f30
...@@ -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': -0.000002 , '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_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 }},
...@@ -16,10 +16,10 @@ ...@@ -16,10 +16,10 @@
{ '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': -0.000005 , '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_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.652498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , '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': -0.652502 , '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_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': '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': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': '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 } },
...@@ -27,6 +27,6 @@ ...@@ -27,6 +27,6 @@
{ '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': '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': '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': 'red2', 'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, { 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320005, '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': -0.220005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
]} ]}
\ No newline at end of file
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