Skip to content
Snippets Groups Projects
Commit dafccf8c authored by KingMaZito's avatar KingMaZito
Browse files

...

parent e75ce075
No related branches found
No related tags found
No related merge requests found
Showing
with 149 additions and 24 deletions
...@@ -2,8 +2,40 @@ ...@@ -2,8 +2,40 @@
multi_cell_builder is an approach that combines both the work of gb-auerswald and the earlier work of accessibility into a package that allows dynamic changes to the startup configuration and parallel execution. multi_cell_builder is an approach that combines both the work of gb-auerswald and the earlier work of accessibility into a package that allows dynamic changes to the startup configuration and parallel execution.
Submodule of ['dynamc_modular_workcells'](git@git-st.inf.tu-dresden.de:Matteo_Anedda/dynamic_modular_workcells.git "GitLab") Submodule of ['dynamc_modular_workcells'](git@git-st.inf.tu-dresden.de:Matteo_Anedda/dynamic_modular_workcells.git "GitLab")
## workflow
### Positioning
The .launch file of the "Positioning" part should contain a reachability map (/maps), the protobuf (/resources) and a task description (/descriptions), based on which all robot positions are calculated and stored in the /results folder. Each result is named after its timestamp, including additional .launch files and configuration files for later use.
```bash
roslaunch multi_cell_builder base_calculation_approach.launch
```
### Startconfiguration
The .launch files including the configurations are stored in the specific result folder, one for each robot that overwrites the result scene model. All overwritten box positions were marked with a comment (#modified robot->name()).
### Execution
The result folder also contains an execute_....launch file associated with the empty /jobs folder in this hierarchy. To execute a job, create the dummy.launch file in this /jobs folder following this scheme.
```bash
{ 'tasks':
{'groups' : [
{ 'name': 'panda_arm1', 'jobs':[[
{ 'pos': { 'x': ,'y': ,'z': }, 'orientation': { 'w': } },
{ 'pos': { 'x': ,'y': ,'z': }, 'orientation': { 'w': } }
]]},
{ 'name': 'panda_arm2', 'jobs':[[
{ 'pos': { 'x': ,'y': ,'z': }, 'orientation': { 'w': } },
{ 'pos': { 'x': ,'y': ,'z': }, 'orientation': { 'w': } }
]]}
]
}
}
```
Make sure that the first position in a job matches a box position in the timestamp.yaml file of that folder. A simple example would be the /jobs/dummy.yaml file, which is not associated with any result.
## Current state ## Current state
State: in progress. Implementing or omitting ideas because some modules do not work as expected took a lot of time. The actual results can be loaded and run. I tested some myself, with surprisingly good results. The following list shows open and closed ToDos.<br/> The following list shows open and closed ToDos.<br/>
:ballot_box_with_check: present a faster work-space execution <br/> :ballot_box_with_check: present a faster work-space execution <br/>
:ballot_box_with_check: generate more solutions for 1 protobuf reference file <br/> :ballot_box_with_check: generate more solutions for 1 protobuf reference file <br/>
...@@ -11,6 +43,7 @@ State: in progress. Implementing or omitting ideas because some modules do not w ...@@ -11,6 +43,7 @@ State: in progress. Implementing or omitting ideas because some modules do not w
:ballot_box_with_check: elaborate the moveit task constructor <br/> :ballot_box_with_check: elaborate the moveit task constructor <br/>
:ballot_box_with_check: present more general task files <br/> :ballot_box_with_check: present more general task files <br/>
:black_square_button: include cosmetic values <br/> :black_square_button: include cosmetic values <br/>
:black_square_button: resolve endless-loop bug <br/>
:ballot_box_with_check: passing yaml in xacro (franca_description) <br/> :ballot_box_with_check: passing yaml in xacro (franca_description) <br/>
:ballot_box_with_check: parallel task execution in container <br/> :ballot_box_with_check: parallel task execution in container <br/>
:ballot_box_with_check: fix acm <br/> :ballot_box_with_check: fix acm <br/>
......
...@@ -149,6 +149,47 @@ static bool hasRobot(const protocol& proto, const std::string& robotName) { ...@@ -149,6 +149,47 @@ static bool hasRobot(const protocol& proto, const std::string& robotName) {
return false; return false;
} }
static std::vector<std::vector<std::string>> compareMapEntries(std::map<const std::string, std::vector<object_data>>& inputMap) {
std::vector<std::vector<std::string>> outputVec;
std::map<std::string, bool> matchedMap; // Map to keep track of matched keys
// Loop through each map entry
for (const auto& entry1 : inputMap) {
// Skip if the key has already been matched
if (matchedMap[entry1.first]) continue;
std::vector<std::string> keysVec;
keysVec.push_back(entry1.first); // Add the current key to the vector
matchedMap[entry1.first] = true; // Mark the key as matched
// Loop through remaining map entries
for (const auto& entry2 : inputMap) {
// Skip comparing the same map entry or if the key has already been matched
if (entry1.first == entry2.first || matchedMap[entry2.first]) continue;
bool matched = false;
// Loop through each transform in entry1's value
for (const auto& tf1 : entry1.second) {
// Loop through each transform in entry2's value
for (const auto& tf2 : entry2.second) {
// Compare the transform values
if (tf1.pose_ == tf2.pose_) {
matched = true;
break;
}
}
if (matched) break;
}
if (matched) {
keysVec.push_back(entry2.first); // Add the matching key to the vector
matchedMap[entry2.first] = true; // Mark the key as matched
}
}
outputVec.push_back(keysVec); // Add the vector of keys to the output vector
}
return outputVec;
}
}; };
......
...@@ -20,13 +20,8 @@ ...@@ -20,13 +20,8 @@
{ '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_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': -0.000000 , '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': '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': -0.000007 , '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': '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': -0.3, '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': 0.1, 'y': 1.11, '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': -0.000003, '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': -0.220005, '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 } }, { '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
<launch> <launch>
<arg name="result" default="dummy/430537148/430537148.yaml" /> <arg name="result" default="dummy/-2045918175/-2045918175.yaml" />
<arg name="jobs" default="dummy/430537148/jobs/dummy.yaml" /> <arg name="jobs" default="dummy/-2045918175/jobs/dummy.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/>
<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam>
......
{ 'tasks':
{'groups' : [
{ 'name': 'panda_arm1', 'jobs':[[
{ 'pos': { 'x': -0.300000 ,'y': -0.700000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.300000 ,'y': -0.600000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.200000 ,'y': -0.700000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.200000 ,'y': -0.600000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': -0.700000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': -0.600000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': -0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': -0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': -0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': -0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': -0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': -0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': -0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': -0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': -0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 0.100000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 0.200000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 0.300000,'z': 0.935500 }, 'orientation': { 'w': 1 } }
]]},
{ 'name': 'panda_arm2', 'jobs':[[
{ 'pos': { 'x': 0.100000 ,'y': 1.110000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 1.210000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.010000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.110000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.210000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.010000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.110000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.210000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 1.410000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 1.510000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 1.610000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.410000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.510000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.200000 ,'y': 1.610000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.410000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.510000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.300000 ,'y': 1.610000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.300000 ,'y': 1.910000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.300000 ,'y': 2.010000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.200000 ,'y': 1.910000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': -0.200000 ,'y': 2.010000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 1.910000,'z': 0.935500 }, 'orientation': { 'w': 1 } },
{ 'pos': { 'x': 0.100000 ,'y': 2.010000,'z': 0.935500 }, 'orientation': { 'w': 1 } }
]]}
]
}
}
\ No newline at end of file
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/440481311/440481311.yaml" /> <arg name="result" default="dummy/-2045918175/-2045918175.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<param name="planning_group_name" value="panda_arm_hand" /> <param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/440481311/configs/440481311_panda_arm1.yaml"/> <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2045918175/configs/-2045918175_panda_arm1.yaml"/>
</node> </node>
<arg name="planner" default="ompl" /> <arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="referenceRobot" default="panda_arm2" /> <arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/440481311/440481311.yaml" /> <arg name="result" default="dummy/-2045918175/-2045918175.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<param name="planning_group_name" value="panda_arm_hand" /> <param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/440481311/configs/440481311_panda_arm2.yaml"/> <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2045918175/configs/-2045918175_panda_arm2.yaml"/>
</node> </node>
<arg name="planner" default="ompl" /> <arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
......
<launch> <launch>
<arg name="result" default="dummy/435978895/435978895.yaml" /> <arg name="result" default="dummy/-2047444178/-2047444178.yaml" />
<arg name="jobs" default="dummy/435978895/jobs/dummy.yaml" /> <arg name="jobs" default="dummy/-2047444178/jobs/dummy.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/>
<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam>
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/442867108/442867108.yaml" /> <arg name="result" default="dummy/-2047444178/-2047444178.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<param name="planning_group_name" value="panda_arm_hand" /> <param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/442867108/configs/442867108_panda_arm1.yaml"/> <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2047444178/configs/-2047444178_panda_arm1.yaml"/>
</node> </node>
<arg name="planner" default="ompl" /> <arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="referenceRobot" default="panda_arm2" /> <arg name="referenceRobot" default="panda_arm2" />
<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> <arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/> <arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/442867108/442867108.yaml" /> <arg name="result" default="dummy/-2047444178/-2047444178.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<param name="planning_group_name" value="panda_arm_hand" /> <param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/442867108/configs/442867108_panda_arm2.yaml"/> <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2047444178/configs/-2047444178_panda_arm2.yaml"/>
</node> </node>
<arg name="planner" default="ompl" /> <arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
......
<launch> <launch>
<arg name="result" default="dummy/438078262/438078262.yaml" /> <arg name="result" default="dummy/-2048784050/-2048784050.yaml" />
<arg name="jobs" default="dummy/438078262/jobs/dummy.yaml" /> <arg name="jobs" default="dummy/-2048784050/jobs/dummy.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/>
<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam>
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceRobot" default="panda_arm1" />
<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> <arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/444768468/444768468.yaml" /> <arg name="result" default="dummy/-2048784050/-2048784050.yaml" />
<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/>
<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> <rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam>
<rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam> <rosparam param="resultPath" subst_value="True"> $(arg result)</rosparam>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<param name="planning_group_name" value="panda_arm_hand" /> <param name="planning_group_name" value="panda_arm_hand" />
<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/>
<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> <rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/>
<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/444768468/configs/444768468_panda_arm1.yaml"/> <rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2048784050/configs/-2048784050_panda_arm1.yaml"/>
</node> </node>
<arg name="planner" default="ompl" /> <arg name="planner" default="ompl" />
<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment