...

results/dummy/-430424823/launch/panda_arm1_-430424823.launch → results/dummy/2059996578/launch/panda_arm1_2059996578.launch

@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/-430424823/-430424823.yaml" />
+<arg name="result" default="dummy/2059996578/2059996578.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"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(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 multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2059996578/configs/2059996578_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">

results/dummy/-430424823/launch/panda_arm2_-430424823.launch → results/dummy/2059996578/launch/panda_arm2_2059996578.launch

@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/-430424823/-430424823.yaml" />
+<arg name="result" default="dummy/2059996578/2059996578.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"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(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 multi_cell_builder)/results/dummy/-430424823/configs/-430424823_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2059996578/configs/2059996578_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">

results/dummy/21093532/21093532.yaml

-{ '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': -0.200002 , '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 }}, 
-{ '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': -0.200005 , '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': -0.200004 , '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': 0.452498 , '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': -0.200000 , 'y': -0.652502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.200007 , 'y': 1.957498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_front_panel' , 'pos': { 'x': 0.452495 , 'y': 1.305000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.420002, 'y': -0.000003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.420005, 'y': 1.304997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file

results/dummy/21093532/configs/21093532_panda_arm1.yaml

-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

results/dummy/21093532/configs/21093532_panda_arm2.yaml

-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

results/dummy/21093532/launch/panda_arm1_21093532.launch

-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.420002 -2.59133e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/21093532/21093532.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="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>

results/dummy/21093532/launch/panda_arm2_21093532.launch

-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/21093532/21093532.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="$(find multi_cell_builder)/results/dummy/21093532/configs/21093532_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>

results/dummy/621087765/launch/panda_arm1_621087765.launch → results/dummy/38428695/launch/panda_arm1_38428695.launch

@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm1" />
 <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/621087765/621087765.yaml" />
+<arg name="result" default="dummy/38428695/38428695.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"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(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 multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm1.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/38428695/configs/38428695_panda_arm1.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">

results/dummy/621087765/launch/panda_arm2_621087765.launch → results/dummy/38428695/launch/panda_arm2_38428695.launch

@@ -2,7 +2,7 @@
 <arg name="referenceRobot" default="panda_arm2" />
 <arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
 <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/621087765/621087765.yaml" />
+<arg name="result" default="dummy/38428695/38428695.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"> $(arg result)</rosparam>
@@ -48,7 +48,7 @@
 <param name="planning_group_name" value="panda_arm_hand" />
 <rosparam command="load" file="$(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 multi_cell_builder)/results/dummy/621087765/configs/621087765_panda_arm2.yaml"/>
+<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/38428695/configs/38428695_panda_arm2.yaml"/>
 </node>
 <arg name="planner" default="ompl" />
 <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">

results/dummy/451266307/configs/451266307_panda_arm1.yaml

-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

results/dummy/451266307/configs/451266307_panda_arm2.yaml

-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

results/dummy/451266307/launch/panda_arm1_451266307.launch

-<launch>
-<arg name="referenceRobot" default="panda_arm1" />
-<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
-<arg name="result" default="dummy/451266307/451266307.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="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm1.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>

results/dummy/451266307/launch/panda_arm2_451266307.launch

-<launch>
-<arg name="referenceRobot" default="panda_arm2" />
-<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/>
-<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
-<arg name="result" default="dummy/451266307/451266307.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="$(find multi_cell_builder)/results/dummy/451266307/configs/451266307_panda_arm2.yaml"/>
-</node>
-<arg name="planner" default="ompl" />
-<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-<arg name="pipeline" value="$(arg planner)" />
-</include>
-</launch>

results/dummy/77303307/77303307.yaml

-{ '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': -0.100002 , 'y': -0.100002 , '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': -0.100006 , 'y': 1.404998 , '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': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.552498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.100000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.100008 , 'y': 2.057498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'blue1',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue2',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'blue3',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green1',  'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'green2',  'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red1',  'type': 'BOX', 'pos': { 'x': -0.3, 'y': -0.6, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'red2',  'type': 'BOX', 'pos': { 'x': 0.3, 'y': 1.41, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.320002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.320006, 'y': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, 
-]}
\ No newline at end of file

results/dummy/77303307/configs/77303307_panda_arm1.yaml

-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

results/dummy/77303307/configs/77303307_panda_arm2.yaml

-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