From dafccf8c34ba724701541b14eec5dd01c6e66988 Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Wed, 19 Apr 2023 20:42:52 +0200 Subject: [PATCH] ... --- README.md | 35 +++- include/mediator/base_calculation_mediator.h | 41 +++++ .../-2045918175.yaml} | 9 +- .../configs/-2045918175_panda_arm1.yaml} | 0 .../configs/-2045918175_panda_arm2.yaml} | 0 .../execute-2045918175.launch} | 4 +- results/dummy/-2045918175/jobs/dummy.yaml | 56 ++++++ .../launch/panda_arm1_-2045918175.launch} | 4 +- .../launch/panda_arm2_-2045918175.launch} | 4 +- .../-2047444178.yaml} | 0 .../configs/-2047444178_panda_arm1.yaml} | 0 .../configs/-2047444178_panda_arm2.yaml} | 0 .../execute-2047444178.launch} | 4 +- .../launch/panda_arm1_-2047444178.launch} | 4 +- .../launch/panda_arm2_-2047444178.launch} | 4 +- .../-2048784050.yaml} | 0 .../configs/-2048784050_panda_arm1.yaml} | 0 .../configs/-2048784050_panda_arm2.yaml} | 0 .../execute-2048784050.launch} | 4 +- .../launch/panda_arm1_-2048784050.launch} | 4 +- .../launch/panda_arm2_-2048784050.launch} | 4 +- .../-2050138938.yaml} | 0 .../configs/-2050138938_panda_arm1.yaml} | 0 .../configs/-2050138938_panda_arm2.yaml} | 0 .../execute-2050138938.launch} | 4 +- .../launch/panda_arm1_-2050138938.launch} | 4 +- .../launch/panda_arm2_-2050138938.launch} | 4 +- .../-2051644478.yaml} | 0 .../configs/-2051644478_panda_arm1.yaml} | 0 .../configs/-2051644478_panda_arm2.yaml} | 0 .../-2051644478/execute-2051644478.launch | 20 +++ .../launch/panda_arm1_-2051644478.launch} | 4 +- .../launch/panda_arm2_-2051644478.launch} | 4 +- .../-2053542187.yaml} | 0 .../configs/-2053542187_panda_arm1.yaml} | 0 .../configs/-2053542187_panda_arm2.yaml} | 0 .../-2053542187/execute-2053542187.launch | 20 +++ .../launch/panda_arm1_-2053542187.launch} | 4 +- .../launch/panda_arm2_-2053542187.launch} | 4 +- .../-2055046679.yaml} | 0 .../configs/-2055046679_panda_arm1.yaml} | 0 .../configs/-2055046679_panda_arm2.yaml} | 0 .../-2055046679/execute-2055046679.launch | 20 +++ .../launch/panda_arm1_-2055046679.launch} | 4 +- .../launch/panda_arm2_-2055046679.launch} | 4 +- .../-2056643993.yaml} | 0 .../configs/-2056643993_panda_arm1.yaml} | 0 .../configs/-2056643993_panda_arm2.yaml} | 0 .../-2056643993/execute-2056643993.launch | 20 +++ .../launch/panda_arm1_-2056643993.launch} | 4 +- .../launch/panda_arm2_-2056643993.launch} | 4 +- .../dummy/440481311/execute440481311.launch | 20 --- .../dummy/442867108/execute442867108.launch | 20 --- .../dummy/444768468/execute444768468.launch | 20 --- .../dummy/446956887/execute446956887.launch | 20 --- src/mediator/base_calculation_mediator.cpp | 32 +--- test/mediator/test_base.cpp | 160 ++++++++---------- test/reader/test_bt.cpp | 74 +++----- 58 files changed, 352 insertions(+), 295 deletions(-) rename results/dummy/{446956887/446956887.yaml => -2045918175/-2045918175.yaml} (82%) rename results/dummy/{440481311/configs/440481311_panda_arm1.yaml => -2045918175/configs/-2045918175_panda_arm1.yaml} (100%) rename results/dummy/{440481311/configs/440481311_panda_arm2.yaml => -2045918175/configs/-2045918175_panda_arm2.yaml} (100%) rename results/dummy/{430537148/execute430537148.launch => -2045918175/execute-2045918175.launch} (88%) create mode 100644 results/dummy/-2045918175/jobs/dummy.yaml rename results/dummy/{440481311/launch/panda_arm1_440481311.launch => -2045918175/launch/panda_arm1_-2045918175.launch} (96%) rename results/dummy/{440481311/launch/panda_arm2_440481311.launch => -2045918175/launch/panda_arm2_-2045918175.launch} (96%) rename results/dummy/{440481311/440481311.yaml => -2047444178/-2047444178.yaml} (100%) rename results/dummy/{442867108/configs/442867108_panda_arm1.yaml => -2047444178/configs/-2047444178_panda_arm1.yaml} (100%) rename results/dummy/{442867108/configs/442867108_panda_arm2.yaml => -2047444178/configs/-2047444178_panda_arm2.yaml} (100%) rename results/dummy/{435978895/execute435978895.launch => -2047444178/execute-2047444178.launch} (88%) rename results/dummy/{442867108/launch/panda_arm1_442867108.launch => -2047444178/launch/panda_arm1_-2047444178.launch} (96%) rename results/dummy/{442867108/launch/panda_arm2_442867108.launch => -2047444178/launch/panda_arm2_-2047444178.launch} (96%) rename results/dummy/{442867108/442867108.yaml => -2048784050/-2048784050.yaml} (100%) rename results/dummy/{444768468/configs/444768468_panda_arm1.yaml => -2048784050/configs/-2048784050_panda_arm1.yaml} (100%) rename results/dummy/{444768468/configs/444768468_panda_arm2.yaml => -2048784050/configs/-2048784050_panda_arm2.yaml} (100%) rename results/dummy/{438078262/execute438078262.launch => -2048784050/execute-2048784050.launch} (88%) rename results/dummy/{444768468/launch/panda_arm1_444768468.launch => -2048784050/launch/panda_arm1_-2048784050.launch} (96%) rename results/dummy/{444768468/launch/panda_arm2_444768468.launch => -2048784050/launch/panda_arm2_-2048784050.launch} (96%) rename results/dummy/{444768468/444768468.yaml => -2050138938/-2050138938.yaml} (100%) rename results/dummy/{446956887/configs/446956887_panda_arm1.yaml => -2050138938/configs/-2050138938_panda_arm1.yaml} (100%) rename results/dummy/{446956887/configs/446956887_panda_arm2.yaml => -2050138938/configs/-2050138938_panda_arm2.yaml} (100%) rename results/dummy/{433826865/execute433826865.launch => -2050138938/execute-2050138938.launch} (88%) rename results/dummy/{446956887/launch/panda_arm1_446956887.launch => -2050138938/launch/panda_arm1_-2050138938.launch} (96%) rename results/dummy/{446956887/launch/panda_arm2_446956887.launch => -2050138938/launch/panda_arm2_-2050138938.launch} (96%) rename results/dummy/{430537148/430537148.yaml => -2051644478/-2051644478.yaml} (100%) rename results/dummy/{430537148/configs/430537148_panda_arm1.yaml => -2051644478/configs/-2051644478_panda_arm1.yaml} (100%) rename results/dummy/{430537148/configs/430537148_panda_arm2.yaml => -2051644478/configs/-2051644478_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-2051644478/execute-2051644478.launch rename results/dummy/{433826865/launch/panda_arm1_433826865.launch => -2051644478/launch/panda_arm1_-2051644478.launch} (96%) rename results/dummy/{435978895/launch/panda_arm2_435978895.launch => -2051644478/launch/panda_arm2_-2051644478.launch} (96%) rename results/dummy/{433826865/433826865.yaml => -2053542187/-2053542187.yaml} (100%) rename results/dummy/{433826865/configs/433826865_panda_arm1.yaml => -2053542187/configs/-2053542187_panda_arm1.yaml} (100%) rename results/dummy/{433826865/configs/433826865_panda_arm2.yaml => -2053542187/configs/-2053542187_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-2053542187/execute-2053542187.launch rename results/dummy/{430537148/launch/panda_arm1_430537148.launch => -2053542187/launch/panda_arm1_-2053542187.launch} (96%) rename results/dummy/{438078262/launch/panda_arm2_438078262.launch => -2053542187/launch/panda_arm2_-2053542187.launch} (96%) rename results/dummy/{435978895/435978895.yaml => -2055046679/-2055046679.yaml} (100%) rename results/dummy/{435978895/configs/435978895_panda_arm1.yaml => -2055046679/configs/-2055046679_panda_arm1.yaml} (100%) rename results/dummy/{435978895/configs/435978895_panda_arm2.yaml => -2055046679/configs/-2055046679_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-2055046679/execute-2055046679.launch rename results/dummy/{435978895/launch/panda_arm1_435978895.launch => -2055046679/launch/panda_arm1_-2055046679.launch} (96%) rename results/dummy/{430537148/launch/panda_arm2_430537148.launch => -2055046679/launch/panda_arm2_-2055046679.launch} (96%) rename results/dummy/{438078262/438078262.yaml => -2056643993/-2056643993.yaml} (100%) rename results/dummy/{438078262/configs/438078262_panda_arm1.yaml => -2056643993/configs/-2056643993_panda_arm1.yaml} (100%) rename results/dummy/{438078262/configs/438078262_panda_arm2.yaml => -2056643993/configs/-2056643993_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-2056643993/execute-2056643993.launch rename results/dummy/{438078262/launch/panda_arm1_438078262.launch => -2056643993/launch/panda_arm1_-2056643993.launch} (96%) rename results/dummy/{433826865/launch/panda_arm2_433826865.launch => -2056643993/launch/panda_arm2_-2056643993.launch} (96%) delete mode 100644 results/dummy/440481311/execute440481311.launch delete mode 100644 results/dummy/442867108/execute442867108.launch delete mode 100644 results/dummy/444768468/execute444768468.launch delete mode 100644 results/dummy/446956887/execute446956887.launch diff --git a/README.md b/README.md index f5724fe..ac682ec 100644 --- a/README.md +++ b/README.md @@ -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. 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 -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: 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 :ballot_box_with_check: elaborate the moveit task constructor <br/> :ballot_box_with_check: present more general task files <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: parallel task execution in container <br/> :ballot_box_with_check: fix acm <br/> diff --git a/include/mediator/base_calculation_mediator.h b/include/mediator/base_calculation_mediator.h index 05e6d88..1bb4206 100644 --- a/include/mediator/base_calculation_mediator.h +++ b/include/mediator/base_calculation_mediator.h @@ -149,6 +149,47 @@ static bool hasRobot(const protocol& proto, const std::string& robotName) { 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; +} }; diff --git a/results/dummy/446956887/446956887.yaml b/results/dummy/-2045918175/-2045918175.yaml similarity index 82% rename from results/dummy/446956887/446956887.yaml rename to results/dummy/-2045918175/-2045918175.yaml index df60e80..c82b215 100644 --- a/results/dummy/446956887/446956887.yaml +++ b/results/dummy/-2045918175/-2045918175.yaml @@ -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_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': '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': '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': 0.1, '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': '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 } }, ]} \ No newline at end of file diff --git a/results/dummy/440481311/configs/440481311_panda_arm1.yaml b/results/dummy/-2045918175/configs/-2045918175_panda_arm1.yaml similarity index 100% rename from results/dummy/440481311/configs/440481311_panda_arm1.yaml rename to results/dummy/-2045918175/configs/-2045918175_panda_arm1.yaml diff --git a/results/dummy/440481311/configs/440481311_panda_arm2.yaml b/results/dummy/-2045918175/configs/-2045918175_panda_arm2.yaml similarity index 100% rename from results/dummy/440481311/configs/440481311_panda_arm2.yaml rename to results/dummy/-2045918175/configs/-2045918175_panda_arm2.yaml diff --git a/results/dummy/430537148/execute430537148.launch b/results/dummy/-2045918175/execute-2045918175.launch similarity index 88% rename from results/dummy/430537148/execute430537148.launch rename to results/dummy/-2045918175/execute-2045918175.launch index 262c627..6f6f9b3 100644 --- a/results/dummy/430537148/execute430537148.launch +++ b/results/dummy/-2045918175/execute-2045918175.launch @@ -1,6 +1,6 @@ <launch> -<arg name="result" default="dummy/430537148/430537148.yaml" /> -<arg name="jobs" default="dummy/430537148/jobs/dummy.yaml" /> +<arg name="result" default="dummy/-2045918175/-2045918175.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 jobs)"/> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> diff --git a/results/dummy/-2045918175/jobs/dummy.yaml b/results/dummy/-2045918175/jobs/dummy.yaml new file mode 100644 index 0000000..680c878 --- /dev/null +++ b/results/dummy/-2045918175/jobs/dummy.yaml @@ -0,0 +1,56 @@ +{ '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 diff --git a/results/dummy/440481311/launch/panda_arm1_440481311.launch b/results/dummy/-2045918175/launch/panda_arm1_-2045918175.launch similarity index 96% rename from results/dummy/440481311/launch/panda_arm1_440481311.launch rename to results/dummy/-2045918175/launch/panda_arm1_-2045918175.launch index c447d0c..5c30634 100644 --- a/results/dummy/440481311/launch/panda_arm1_440481311.launch +++ b/results/dummy/-2045918175/launch/panda_arm1_-2045918175.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/440481311/440481311.yaml" /> +<arg name="result" default="dummy/-2045918175/-2045918175.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/440481311/configs/440481311_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2045918175/configs/-2045918175_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/440481311/launch/panda_arm2_440481311.launch b/results/dummy/-2045918175/launch/panda_arm2_-2045918175.launch similarity index 96% rename from results/dummy/440481311/launch/panda_arm2_440481311.launch rename to results/dummy/-2045918175/launch/panda_arm2_-2045918175.launch index 8bc0385..774bf3f 100644 --- a/results/dummy/440481311/launch/panda_arm2_440481311.launch +++ b/results/dummy/-2045918175/launch/panda_arm2_-2045918175.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/440481311/440481311.yaml" /> +<arg name="result" default="dummy/-2045918175/-2045918175.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/440481311/configs/440481311_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2045918175/configs/-2045918175_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/440481311/440481311.yaml b/results/dummy/-2047444178/-2047444178.yaml similarity index 100% rename from results/dummy/440481311/440481311.yaml rename to results/dummy/-2047444178/-2047444178.yaml diff --git a/results/dummy/442867108/configs/442867108_panda_arm1.yaml b/results/dummy/-2047444178/configs/-2047444178_panda_arm1.yaml similarity index 100% rename from results/dummy/442867108/configs/442867108_panda_arm1.yaml rename to results/dummy/-2047444178/configs/-2047444178_panda_arm1.yaml diff --git a/results/dummy/442867108/configs/442867108_panda_arm2.yaml b/results/dummy/-2047444178/configs/-2047444178_panda_arm2.yaml similarity index 100% rename from results/dummy/442867108/configs/442867108_panda_arm2.yaml rename to results/dummy/-2047444178/configs/-2047444178_panda_arm2.yaml diff --git a/results/dummy/435978895/execute435978895.launch b/results/dummy/-2047444178/execute-2047444178.launch similarity index 88% rename from results/dummy/435978895/execute435978895.launch rename to results/dummy/-2047444178/execute-2047444178.launch index dbe7244..22ba806 100644 --- a/results/dummy/435978895/execute435978895.launch +++ b/results/dummy/-2047444178/execute-2047444178.launch @@ -1,6 +1,6 @@ <launch> -<arg name="result" default="dummy/435978895/435978895.yaml" /> -<arg name="jobs" default="dummy/435978895/jobs/dummy.yaml" /> +<arg name="result" default="dummy/-2047444178/-2047444178.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 jobs)"/> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> diff --git a/results/dummy/442867108/launch/panda_arm1_442867108.launch b/results/dummy/-2047444178/launch/panda_arm1_-2047444178.launch similarity index 96% rename from results/dummy/442867108/launch/panda_arm1_442867108.launch rename to results/dummy/-2047444178/launch/panda_arm1_-2047444178.launch index caee851..44a2808 100644 --- a/results/dummy/442867108/launch/panda_arm1_442867108.launch +++ b/results/dummy/-2047444178/launch/panda_arm1_-2047444178.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/442867108/442867108.yaml" /> +<arg name="result" default="dummy/-2047444178/-2047444178.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/442867108/configs/442867108_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2047444178/configs/-2047444178_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/442867108/launch/panda_arm2_442867108.launch b/results/dummy/-2047444178/launch/panda_arm2_-2047444178.launch similarity index 96% rename from results/dummy/442867108/launch/panda_arm2_442867108.launch rename to results/dummy/-2047444178/launch/panda_arm2_-2047444178.launch index 5419b56..7275ffb 100644 --- a/results/dummy/442867108/launch/panda_arm2_442867108.launch +++ b/results/dummy/-2047444178/launch/panda_arm2_-2047444178.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/442867108/442867108.yaml" /> +<arg name="result" default="dummy/-2047444178/-2047444178.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/442867108/configs/442867108_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2047444178/configs/-2047444178_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/442867108/442867108.yaml b/results/dummy/-2048784050/-2048784050.yaml similarity index 100% rename from results/dummy/442867108/442867108.yaml rename to results/dummy/-2048784050/-2048784050.yaml diff --git a/results/dummy/444768468/configs/444768468_panda_arm1.yaml b/results/dummy/-2048784050/configs/-2048784050_panda_arm1.yaml similarity index 100% rename from results/dummy/444768468/configs/444768468_panda_arm1.yaml rename to results/dummy/-2048784050/configs/-2048784050_panda_arm1.yaml diff --git a/results/dummy/444768468/configs/444768468_panda_arm2.yaml b/results/dummy/-2048784050/configs/-2048784050_panda_arm2.yaml similarity index 100% rename from results/dummy/444768468/configs/444768468_panda_arm2.yaml rename to results/dummy/-2048784050/configs/-2048784050_panda_arm2.yaml diff --git a/results/dummy/438078262/execute438078262.launch b/results/dummy/-2048784050/execute-2048784050.launch similarity index 88% rename from results/dummy/438078262/execute438078262.launch rename to results/dummy/-2048784050/execute-2048784050.launch index 93f6fe4..a76e61c 100644 --- a/results/dummy/438078262/execute438078262.launch +++ b/results/dummy/-2048784050/execute-2048784050.launch @@ -1,6 +1,6 @@ <launch> -<arg name="result" default="dummy/438078262/438078262.yaml" /> -<arg name="jobs" default="dummy/438078262/jobs/dummy.yaml" /> +<arg name="result" default="dummy/-2048784050/-2048784050.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 jobs)"/> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> diff --git a/results/dummy/444768468/launch/panda_arm1_444768468.launch b/results/dummy/-2048784050/launch/panda_arm1_-2048784050.launch similarity index 96% rename from results/dummy/444768468/launch/panda_arm1_444768468.launch rename to results/dummy/-2048784050/launch/panda_arm1_-2048784050.launch index d43ece0..1d5f00a 100644 --- a/results/dummy/444768468/launch/panda_arm1_444768468.launch +++ b/results/dummy/-2048784050/launch/panda_arm1_-2048784050.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/444768468/444768468.yaml" /> +<arg name="result" default="dummy/-2048784050/-2048784050.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/444768468/configs/444768468_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2048784050/configs/-2048784050_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/444768468/launch/panda_arm2_444768468.launch b/results/dummy/-2048784050/launch/panda_arm2_-2048784050.launch similarity index 96% rename from results/dummy/444768468/launch/panda_arm2_444768468.launch rename to results/dummy/-2048784050/launch/panda_arm2_-2048784050.launch index 26a864c..9fe4d62 100644 --- a/results/dummy/444768468/launch/panda_arm2_444768468.launch +++ b/results/dummy/-2048784050/launch/panda_arm2_-2048784050.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/444768468/444768468.yaml" /> +<arg name="result" default="dummy/-2048784050/-2048784050.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/444768468/configs/444768468_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2048784050/configs/-2048784050_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/444768468/444768468.yaml b/results/dummy/-2050138938/-2050138938.yaml similarity index 100% rename from results/dummy/444768468/444768468.yaml rename to results/dummy/-2050138938/-2050138938.yaml diff --git a/results/dummy/446956887/configs/446956887_panda_arm1.yaml b/results/dummy/-2050138938/configs/-2050138938_panda_arm1.yaml similarity index 100% rename from results/dummy/446956887/configs/446956887_panda_arm1.yaml rename to results/dummy/-2050138938/configs/-2050138938_panda_arm1.yaml diff --git a/results/dummy/446956887/configs/446956887_panda_arm2.yaml b/results/dummy/-2050138938/configs/-2050138938_panda_arm2.yaml similarity index 100% rename from results/dummy/446956887/configs/446956887_panda_arm2.yaml rename to results/dummy/-2050138938/configs/-2050138938_panda_arm2.yaml diff --git a/results/dummy/433826865/execute433826865.launch b/results/dummy/-2050138938/execute-2050138938.launch similarity index 88% rename from results/dummy/433826865/execute433826865.launch rename to results/dummy/-2050138938/execute-2050138938.launch index c3f5703..531269d 100644 --- a/results/dummy/433826865/execute433826865.launch +++ b/results/dummy/-2050138938/execute-2050138938.launch @@ -1,6 +1,6 @@ <launch> -<arg name="result" default="dummy/433826865/433826865.yaml" /> -<arg name="jobs" default="dummy/433826865/jobs/dummy.yaml" /> +<arg name="result" default="dummy/-2050138938/-2050138938.yaml" /> +<arg name="jobs" default="dummy/-2050138938/jobs/dummy.yaml" /> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> <rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> <rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> diff --git a/results/dummy/446956887/launch/panda_arm1_446956887.launch b/results/dummy/-2050138938/launch/panda_arm1_-2050138938.launch similarity index 96% rename from results/dummy/446956887/launch/panda_arm1_446956887.launch rename to results/dummy/-2050138938/launch/panda_arm1_-2050138938.launch index 94cf6b7..5919908 100644 --- a/results/dummy/446956887/launch/panda_arm1_446956887.launch +++ b/results/dummy/-2050138938/launch/panda_arm1_-2050138938.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/446956887/446956887.yaml" /> +<arg name="result" default="dummy/-2050138938/-2050138938.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/446956887/configs/446956887_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2050138938/configs/-2050138938_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/446956887/launch/panda_arm2_446956887.launch b/results/dummy/-2050138938/launch/panda_arm2_-2050138938.launch similarity index 96% rename from results/dummy/446956887/launch/panda_arm2_446956887.launch rename to results/dummy/-2050138938/launch/panda_arm2_-2050138938.launch index 52f9aaf..df00b97 100644 --- a/results/dummy/446956887/launch/panda_arm2_446956887.launch +++ b/results/dummy/-2050138938/launch/panda_arm2_-2050138938.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/446956887/446956887.yaml" /> +<arg name="result" default="dummy/-2050138938/-2050138938.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/446956887/configs/446956887_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2050138938/configs/-2050138938_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/430537148/430537148.yaml b/results/dummy/-2051644478/-2051644478.yaml similarity index 100% rename from results/dummy/430537148/430537148.yaml rename to results/dummy/-2051644478/-2051644478.yaml diff --git a/results/dummy/430537148/configs/430537148_panda_arm1.yaml b/results/dummy/-2051644478/configs/-2051644478_panda_arm1.yaml similarity index 100% rename from results/dummy/430537148/configs/430537148_panda_arm1.yaml rename to results/dummy/-2051644478/configs/-2051644478_panda_arm1.yaml diff --git a/results/dummy/430537148/configs/430537148_panda_arm2.yaml b/results/dummy/-2051644478/configs/-2051644478_panda_arm2.yaml similarity index 100% rename from results/dummy/430537148/configs/430537148_panda_arm2.yaml rename to results/dummy/-2051644478/configs/-2051644478_panda_arm2.yaml diff --git a/results/dummy/-2051644478/execute-2051644478.launch b/results/dummy/-2051644478/execute-2051644478.launch new file mode 100644 index 0000000..0d65602 --- /dev/null +++ b/results/dummy/-2051644478/execute-2051644478.launch @@ -0,0 +1,20 @@ +<launch> +<arg name="result" default="dummy/-2051644478/-2051644478.yaml" /> +<arg name="jobs" default="dummy/-2051644478/jobs/dummy.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> +<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> +<include file="$(find ceti_double)/launch/demo.launch"> +<arg name="use_rviz" value="false"/> +<arg name="scene" value="$(arg result)" /> +</include> +<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> +<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> +<include file="$(find ceti_double)/launch/moveit_rviz.launch"> +<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> +</include> +<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> +</node> +<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> +</node> +</launch> diff --git a/results/dummy/433826865/launch/panda_arm1_433826865.launch b/results/dummy/-2051644478/launch/panda_arm1_-2051644478.launch similarity index 96% rename from results/dummy/433826865/launch/panda_arm1_433826865.launch rename to results/dummy/-2051644478/launch/panda_arm1_-2051644478.launch index 699d5bc..b3f558c 100644 --- a/results/dummy/433826865/launch/panda_arm1_433826865.launch +++ b/results/dummy/-2051644478/launch/panda_arm1_-2051644478.launch @@ -2,7 +2,7 @@ <arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/433826865/433826865.yaml" /> +<arg name="result" default="dummy/-2051644478/-2051644478.yaml" /> <rosparam command="load" file="$(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/433826865/configs/433826865_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2051644478/configs/-2051644478_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/435978895/launch/panda_arm2_435978895.launch b/results/dummy/-2051644478/launch/panda_arm2_-2051644478.launch similarity index 96% rename from results/dummy/435978895/launch/panda_arm2_435978895.launch rename to results/dummy/-2051644478/launch/panda_arm2_-2051644478.launch index 94be3b1..8123f89 100644 --- a/results/dummy/435978895/launch/panda_arm2_435978895.launch +++ b/results/dummy/-2051644478/launch/panda_arm2_-2051644478.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/435978895/435978895.yaml" /> +<arg name="result" default="dummy/-2051644478/-2051644478.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/435978895/configs/435978895_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2051644478/configs/-2051644478_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/433826865/433826865.yaml b/results/dummy/-2053542187/-2053542187.yaml similarity index 100% rename from results/dummy/433826865/433826865.yaml rename to results/dummy/-2053542187/-2053542187.yaml diff --git a/results/dummy/433826865/configs/433826865_panda_arm1.yaml b/results/dummy/-2053542187/configs/-2053542187_panda_arm1.yaml similarity index 100% rename from results/dummy/433826865/configs/433826865_panda_arm1.yaml rename to results/dummy/-2053542187/configs/-2053542187_panda_arm1.yaml diff --git a/results/dummy/433826865/configs/433826865_panda_arm2.yaml b/results/dummy/-2053542187/configs/-2053542187_panda_arm2.yaml similarity index 100% rename from results/dummy/433826865/configs/433826865_panda_arm2.yaml rename to results/dummy/-2053542187/configs/-2053542187_panda_arm2.yaml diff --git a/results/dummy/-2053542187/execute-2053542187.launch b/results/dummy/-2053542187/execute-2053542187.launch new file mode 100644 index 0000000..b029ced --- /dev/null +++ b/results/dummy/-2053542187/execute-2053542187.launch @@ -0,0 +1,20 @@ +<launch> +<arg name="result" default="dummy/-2053542187/-2053542187.yaml" /> +<arg name="jobs" default="dummy/-2053542187/jobs/dummy.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> +<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> +<include file="$(find ceti_double)/launch/demo.launch"> +<arg name="use_rviz" value="false"/> +<arg name="scene" value="$(arg result)" /> +</include> +<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> +<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> +<include file="$(find ceti_double)/launch/moveit_rviz.launch"> +<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> +</include> +<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> +</node> +<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> +</node> +</launch> diff --git a/results/dummy/430537148/launch/panda_arm1_430537148.launch b/results/dummy/-2053542187/launch/panda_arm1_-2053542187.launch similarity index 96% rename from results/dummy/430537148/launch/panda_arm1_430537148.launch rename to results/dummy/-2053542187/launch/panda_arm1_-2053542187.launch index 31573df..6c5be68 100644 --- a/results/dummy/430537148/launch/panda_arm1_430537148.launch +++ b/results/dummy/-2053542187/launch/panda_arm1_-2053542187.launch @@ -2,7 +2,7 @@ <arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/430537148/430537148.yaml" /> +<arg name="result" default="dummy/-2053542187/-2053542187.yaml" /> <rosparam command="load" file="$(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/430537148/configs/430537148_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2053542187/configs/-2053542187_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/438078262/launch/panda_arm2_438078262.launch b/results/dummy/-2053542187/launch/panda_arm2_-2053542187.launch similarity index 96% rename from results/dummy/438078262/launch/panda_arm2_438078262.launch rename to results/dummy/-2053542187/launch/panda_arm2_-2053542187.launch index 2495496..9e8f7a0 100644 --- a/results/dummy/438078262/launch/panda_arm2_438078262.launch +++ b/results/dummy/-2053542187/launch/panda_arm2_-2053542187.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/438078262/438078262.yaml" /> +<arg name="result" default="dummy/-2053542187/-2053542187.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/438078262/configs/438078262_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2053542187/configs/-2053542187_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/435978895/435978895.yaml b/results/dummy/-2055046679/-2055046679.yaml similarity index 100% rename from results/dummy/435978895/435978895.yaml rename to results/dummy/-2055046679/-2055046679.yaml diff --git a/results/dummy/435978895/configs/435978895_panda_arm1.yaml b/results/dummy/-2055046679/configs/-2055046679_panda_arm1.yaml similarity index 100% rename from results/dummy/435978895/configs/435978895_panda_arm1.yaml rename to results/dummy/-2055046679/configs/-2055046679_panda_arm1.yaml diff --git a/results/dummy/435978895/configs/435978895_panda_arm2.yaml b/results/dummy/-2055046679/configs/-2055046679_panda_arm2.yaml similarity index 100% rename from results/dummy/435978895/configs/435978895_panda_arm2.yaml rename to results/dummy/-2055046679/configs/-2055046679_panda_arm2.yaml diff --git a/results/dummy/-2055046679/execute-2055046679.launch b/results/dummy/-2055046679/execute-2055046679.launch new file mode 100644 index 0000000..57b63a5 --- /dev/null +++ b/results/dummy/-2055046679/execute-2055046679.launch @@ -0,0 +1,20 @@ +<launch> +<arg name="result" default="dummy/-2055046679/-2055046679.yaml" /> +<arg name="jobs" default="dummy/-2055046679/jobs/dummy.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> +<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> +<include file="$(find ceti_double)/launch/demo.launch"> +<arg name="use_rviz" value="false"/> +<arg name="scene" value="$(arg result)" /> +</include> +<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> +<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> +<include file="$(find ceti_double)/launch/moveit_rviz.launch"> +<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> +</include> +<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> +</node> +<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> +</node> +</launch> diff --git a/results/dummy/435978895/launch/panda_arm1_435978895.launch b/results/dummy/-2055046679/launch/panda_arm1_-2055046679.launch similarity index 96% rename from results/dummy/435978895/launch/panda_arm1_435978895.launch rename to results/dummy/-2055046679/launch/panda_arm1_-2055046679.launch index ac9b03e..803da56 100644 --- a/results/dummy/435978895/launch/panda_arm1_435978895.launch +++ b/results/dummy/-2055046679/launch/panda_arm1_-2055046679.launch @@ -2,7 +2,7 @@ <arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/435978895/435978895.yaml" /> +<arg name="result" default="dummy/-2055046679/-2055046679.yaml" /> <rosparam command="load" file="$(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/435978895/configs/435978895_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2055046679/configs/-2055046679_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/430537148/launch/panda_arm2_430537148.launch b/results/dummy/-2055046679/launch/panda_arm2_-2055046679.launch similarity index 96% rename from results/dummy/430537148/launch/panda_arm2_430537148.launch rename to results/dummy/-2055046679/launch/panda_arm2_-2055046679.launch index a306f8f..c4dedd1 100644 --- a/results/dummy/430537148/launch/panda_arm2_430537148.launch +++ b/results/dummy/-2055046679/launch/panda_arm2_-2055046679.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/430537148/430537148.yaml" /> +<arg name="result" default="dummy/-2055046679/-2055046679.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/430537148/configs/430537148_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2055046679/configs/-2055046679_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/438078262/438078262.yaml b/results/dummy/-2056643993/-2056643993.yaml similarity index 100% rename from results/dummy/438078262/438078262.yaml rename to results/dummy/-2056643993/-2056643993.yaml diff --git a/results/dummy/438078262/configs/438078262_panda_arm1.yaml b/results/dummy/-2056643993/configs/-2056643993_panda_arm1.yaml similarity index 100% rename from results/dummy/438078262/configs/438078262_panda_arm1.yaml rename to results/dummy/-2056643993/configs/-2056643993_panda_arm1.yaml diff --git a/results/dummy/438078262/configs/438078262_panda_arm2.yaml b/results/dummy/-2056643993/configs/-2056643993_panda_arm2.yaml similarity index 100% rename from results/dummy/438078262/configs/438078262_panda_arm2.yaml rename to results/dummy/-2056643993/configs/-2056643993_panda_arm2.yaml diff --git a/results/dummy/-2056643993/execute-2056643993.launch b/results/dummy/-2056643993/execute-2056643993.launch new file mode 100644 index 0000000..9d4e3c4 --- /dev/null +++ b/results/dummy/-2056643993/execute-2056643993.launch @@ -0,0 +1,20 @@ +<launch> +<arg name="result" default="dummy/-2056643993/-2056643993.yaml" /> +<arg name="jobs" default="dummy/-2056643993/jobs/dummy.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> +<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> +<include file="$(find ceti_double)/launch/demo.launch"> +<arg name="use_rviz" value="false"/> +<arg name="scene" value="$(arg result)" /> +</include> +<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> +<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> +<include file="$(find ceti_double)/launch/moveit_rviz.launch"> +<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> +</include> +<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> +</node> +<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> +</node> +</launch> diff --git a/results/dummy/438078262/launch/panda_arm1_438078262.launch b/results/dummy/-2056643993/launch/panda_arm1_-2056643993.launch similarity index 96% rename from results/dummy/438078262/launch/panda_arm1_438078262.launch rename to results/dummy/-2056643993/launch/panda_arm1_-2056643993.launch index 483342a..39fc3f4 100644 --- a/results/dummy/438078262/launch/panda_arm1_438078262.launch +++ b/results/dummy/-2056643993/launch/panda_arm1_-2056643993.launch @@ -2,7 +2,7 @@ <arg name="referenceRobot" default="panda_arm1" /> <arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> <arg name="referenceRPY" default="0 -0 2.49943e-06"/> -<arg name="result" default="dummy/438078262/438078262.yaml" /> +<arg name="result" default="dummy/-2056643993/-2056643993.yaml" /> <rosparam command="load" file="$(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/438078262/configs/438078262_panda_arm1.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2056643993/configs/-2056643993_panda_arm1.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/433826865/launch/panda_arm2_433826865.launch b/results/dummy/-2056643993/launch/panda_arm2_-2056643993.launch similarity index 96% rename from results/dummy/433826865/launch/panda_arm2_433826865.launch rename to results/dummy/-2056643993/launch/panda_arm2_-2056643993.launch index a6e4f70..1e46d1d 100644 --- a/results/dummy/433826865/launch/panda_arm2_433826865.launch +++ b/results/dummy/-2056643993/launch/panda_arm2_-2056643993.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/433826865/433826865.yaml" /> +<arg name="result" default="dummy/-2056643993/-2056643993.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/433826865/configs/433826865_panda_arm2.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-2056643993/configs/-2056643993_panda_arm2.yaml"/> </node> <arg name="planner" default="ompl" /> <include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> diff --git a/results/dummy/440481311/execute440481311.launch b/results/dummy/440481311/execute440481311.launch deleted file mode 100644 index f556234..0000000 --- a/results/dummy/440481311/execute440481311.launch +++ /dev/null @@ -1,20 +0,0 @@ -<launch> -<arg name="result" default="dummy/440481311/440481311.yaml" /> -<arg name="jobs" default="dummy/440481311/jobs/dummy.yaml" /> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> -<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> -<include file="$(find ceti_double)/launch/demo.launch"> -<arg name="use_rviz" value="false"/> -<arg name="scene" value="$(arg result)" /> -</include> -<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> -<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> -<include file="$(find ceti_double)/launch/moveit_rviz.launch"> -<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> -</include> -<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> -</node> -<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> -</node> -</launch> diff --git a/results/dummy/442867108/execute442867108.launch b/results/dummy/442867108/execute442867108.launch deleted file mode 100644 index ca53db9..0000000 --- a/results/dummy/442867108/execute442867108.launch +++ /dev/null @@ -1,20 +0,0 @@ -<launch> -<arg name="result" default="dummy/442867108/442867108.yaml" /> -<arg name="jobs" default="dummy/442867108/jobs/dummy.yaml" /> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> -<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> -<include file="$(find ceti_double)/launch/demo.launch"> -<arg name="use_rviz" value="false"/> -<arg name="scene" value="$(arg result)" /> -</include> -<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> -<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> -<include file="$(find ceti_double)/launch/moveit_rviz.launch"> -<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> -</include> -<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> -</node> -<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> -</node> -</launch> diff --git a/results/dummy/444768468/execute444768468.launch b/results/dummy/444768468/execute444768468.launch deleted file mode 100644 index 8c2965a..0000000 --- a/results/dummy/444768468/execute444768468.launch +++ /dev/null @@ -1,20 +0,0 @@ -<launch> -<arg name="result" default="dummy/444768468/444768468.yaml" /> -<arg name="jobs" default="dummy/444768468/jobs/dummy.yaml" /> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> -<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> -<include file="$(find ceti_double)/launch/demo.launch"> -<arg name="use_rviz" value="false"/> -<arg name="scene" value="$(arg result)" /> -</include> -<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> -<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> -<include file="$(find ceti_double)/launch/moveit_rviz.launch"> -<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> -</include> -<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> -</node> -<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> -</node> -</launch> diff --git a/results/dummy/446956887/execute446956887.launch b/results/dummy/446956887/execute446956887.launch deleted file mode 100644 index f5870f9..0000000 --- a/results/dummy/446956887/execute446956887.launch +++ /dev/null @@ -1,20 +0,0 @@ -<launch> -<arg name="result" default="dummy/446956887/446956887.yaml" /> -<arg name="jobs" default="dummy/446956887/jobs/dummy.yaml" /> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> -<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg jobs)"/> -<rosparam ns="planning_pipelines" param="pipeline_names">["ompl"]</rosparam> -<include file="$(find ceti_double)/launch/demo.launch"> -<arg name="use_rviz" value="false"/> -<arg name="scene" value="$(arg result)" /> -</include> -<include ns="cell_routine" file="$(find ceti_double)/launch/fake_moveit_controller_manager.launch.xml" /> -<param name="move_group/capabilities" value="move_group/ExecuteTaskSolutionCapability"/> -<include file="$(find ceti_double)/launch/moveit_rviz.launch"> -<arg name="rviz_config" value="$(find multi_cell_builder)/launch/rviz/cell_routine.rviz" /> -</include> -<node pkg="groot" type="Groot" name="Groot" output="screen" required="true"> -</node> -<node pkg="multi_cell_builder" type="cell_routine" name="cell_routine" output="screen" required="true"> -</node> -</launch> diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp index 69bd9de..be4d6eb 100644 --- a/src/mediator/base_calculation_mediator.cpp +++ b/src/mediator/base_calculation_mediator.cpp @@ -287,37 +287,7 @@ void BaseCalculationMediator::mediate(){ // estimate workcells auto ts = task_space_reader_->dropOffData(); - std::vector<std::vector<std::string>> wcs; - - std::map<std::string, bool> matchedMap; - - for (const auto& entry1 : ts) { - if (matchedMap[entry1.first]) continue; - - std::vector<std::string> keysVec; - keysVec.push_back(entry1.first); - matchedMap[entry1.first] = true; - - for (const auto& entry2 : ts) { - if (entry1.first == entry2.first || matchedMap[entry2.first]) continue; - - bool matched = false; - for (const auto& tf1 : entry1.second) { - for (const auto& tf2 : entry2.second) { - if (tf1.pose_ == tf2.pose_) { - matched = true; - break; - } - } - if (matched) break; - } - if (matched) { - keysVec.push_back(entry2.first); - matchedMap[entry2.first] = true; - } - } - wcs.push_back(keysVec); - } + std::vector<std::vector<std::string>> wcs = compareMapEntries(ts); /* wcs [[panda_arm1, panda_arm2], [] ...] diff --git a/test/mediator/test_base.cpp b/test/mediator/test_base.cpp index b6ffaa0..447d4e1 100644 --- a/test/mediator/test_base.cpp +++ b/test/mediator/test_base.cpp @@ -13,12 +13,8 @@ #include <boost/circular_buffer.hpp> -TEST(BaseTestSuit, workcellCompositionLogicTest){ - /* Workcell Logic - A taskspace defines the shared workspace between manipulators. - */ - - std::map<std::string, std::vector<object_data>> inputMap = { +TEST(BaseTestSuit, workcellCompositionLogicTest1){ + std::map<const std::string, std::vector<object_data>> inputMap = { {"key3", { {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(13,14, 15)), tf2::Vector3(0,0,0)}, @@ -31,104 +27,92 @@ TEST(BaseTestSuit, workcellCompositionLogicTest){ }} }; - std::vector<std::vector<std::string>> outputVec; - std::map<std::string, bool> matchedMap; - - for (const auto& entry1 : inputMap) { - if (matchedMap[entry1.first]) continue; - - std::vector<std::string> keysVec; - keysVec.push_back(entry1.first); - matchedMap[entry1.first] = true; - - for (const auto& entry2 : inputMap) { - if (entry1.first == entry2.first || matchedMap[entry2.first]) continue; - - bool matched = false; - for (const auto& tf1 : entry1.second) { - for (const auto& tf2 : entry2.second) { - if (tf1.pose_ == tf2.pose_) { - matched = true; - break; - } - } - if (matched) break; - } - if (matched) { - keysVec.push_back(entry2.first); - matchedMap[entry2.first] = true; - } - } - outputVec.push_back(keysVec); - } - + std::vector<std::vector<std::string>> outputVec = BaseCalculationMediator::compareMapEntries(inputMap); ASSERT_EQ(outputVec.size(), 1); } -TEST(BaseTestSuit, workcellCalculationTest){ - /* Workcell Logic - The workcell container structure looks like that: [[ws0], [ws1], ...], while ws[0-1]+ could contain 1 or more robot keys. A Key redirects to a map with base positions. - */ - - std::map<std::string, std::vector<object_data>> inputTaskspace = { - {"panda_arm1", { - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,1, 1)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,2, 2)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(3,3, 3)), tf2::Vector3(0,0,0)}, +TEST(BaseTestSuit, workcellCompositionLogicTest2){ + std::map<const std::string, std::vector<object_data>> inputMap = { + {"key1", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(9,99, 999)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,11, 111)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,22, 222)), tf2::Vector3(0,0,0)}, }}, - {"panda_arm2", { - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(4, 4, 4)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(5, 5, 5)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(6, 6, 6)), tf2::Vector3(0,0,0)} - }}, - {"panda_arm3", { - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(7, 7, 7)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(5, 5, 5)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(6, 6, 6)), tf2::Vector3(0,0,0)} - }}, - {"panda_arm4", { - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(8, 8, 8)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(9, 9, 9)), tf2::Vector3(0,0,0)}, - {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10, 10, 10)), tf2::Vector3(0,0,0)} + {"key3", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(13,14, 15)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16,17, 18)), tf2::Vector3(0,0,0)}, + }}, + {"key2", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(19, 20, 21)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(22, 23, 24)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16, 17, 18)), tf2::Vector3(0,0,0)} }} }; - std::vector<std::vector<std::string>> inputVector = { - {"panda_arm1"}, - {"panda_arm2", "panda_arm3"}, - {"panda_arm4"} - }; + std::vector<std::vector<std::string>> outputVec = BaseCalculationMediator::compareMapEntries(inputMap); + ASSERT_EQ(outputVec.size(), 2); +} - std::map<std::string, std::vector<tf2::Vector3>> base_positions = { - {"panda_arm1", {tf2::Vector3(0,0,0), tf2::Vector3(0,1,0), tf2::Vector3(0,2,0), tf2::Vector3(0,3,0), tf2::Vector3(0,4,0)}}, - {"panda_arm2", {tf2::Vector3(0,0,0), tf2::Vector3(0,1,0), tf2::Vector3(0,2,0), tf2::Vector3(0,3,0), tf2::Vector3(0,4,0)}}, - {"panda_arm3", {tf2::Vector3(0,0,0), tf2::Vector3(0,1,0), tf2::Vector3(0,2,0), tf2::Vector3(0,3,0), tf2::Vector3(0,4,0)}}, - {"panda_arm4", {tf2::Vector3(0,0,0), tf2::Vector3(0,1,0), tf2::Vector3(0,2,0), tf2::Vector3(0,3,0), tf2::Vector3(0,4,0)}} +TEST(BaseTestSuit, workcellCompositionLogicTest3){ + std::map<const std::string, std::vector<object_data>> inputMap = { + {"key1", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(9,99, 999)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,11, 111)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,22, 222)), tf2::Vector3(0,0,0)}, + }}, + {"key3", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(13,14, 15)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16,17, 18)), tf2::Vector3(0,0,0)}, + }}, + {"key3", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,11, 111)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,22, 222)), tf2::Vector3(0,0,0)}, + }}, + {"key2", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(19, 20, 21)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(22, 23, 24)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16, 17, 18)), tf2::Vector3(0,0,0)} + }} }; + std::vector<std::vector<std::string>> outputVec = BaseCalculationMediator::compareMapEntries(inputMap); + ASSERT_EQ(outputVec.size(), 2); +} - for (const auto& ws : inputVector){ - /* - if ws contains more robots, a container structure should be build. For that, the order of placing robots is important. - */ - for (const auto& robot : ws){ - // set any robot position - // First Robot should run a 360 degree turn - for (int i = 0; i < 360 ; i++){ - // set and check task space collision - if (ws.size()>1){ - // call approximate(), which d - } - } - } +TEST(BaseTestSuit, workcellCompositionLogicTest4){ + std::map<const std::string, std::vector<object_data>> inputMap = { + {"key1", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,11, 111)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,22, 222)), tf2::Vector3(0,0,0)}, + }}, + {"key3", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(13,14, 15)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(16,17, 18)), tf2::Vector3(0,0,0)}, + }}, + {"key4", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(10,11, 12)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(1,11, 111)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2,22, 222)), tf2::Vector3(0,0,0)}, + }}, + {"key2", { + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(19, 20, 21)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(22, 23, 24)), tf2::Vector3(0,0,0)}, + {"", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(2, 22, 222)), tf2::Vector3(0,0,0)} + }} + }; - } + + std::vector<std::vector<std::string>> outputVec = BaseCalculationMediator::compareMapEntries(inputMap); + ASSERT_EQ(outputVec.size(), 1); } TEST(BaseTestSuit, workcellSolutionTest){ - - /* Workcell Logic A Solution should contain all possible robots, if in a cluster or not, so its a concatenation. */ diff --git a/test/reader/test_bt.cpp b/test/reader/test_bt.cpp index f38580d..6e522c0 100644 --- a/test/reader/test_bt.cpp +++ b/test/reader/test_bt.cpp @@ -22,55 +22,33 @@ TEST(BtTestSuit, basicParallelTest){ job2.jobs_ = {tf2::Transform(tf2::Quaternion(2,2,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,2,0))}; std::vector<std::pair<std::string,tf2::Vector3>> boxes = {{"box1", tf2::Vector3(0,0,0)}, {"box2", tf2::Vector3(2,2,0)}}; - cb_jd.push_back({"panda_arm1", job1}); - cb_jd.push_back({"panda_arm2", job2}); - - - while(!cb_jd.empty()){ - for(auto& box : boxes){ - std::pair<std::string, job_data> temp = cb_jd.front(); - if(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), box.second) == 0) { - for (int k = 1; k < temp.second.jobs_.size(); k++){ - box.second = temp.second.jobs_[k].getOrigin(); - } - cb_jd.pop_front(); - } else {cb_jd.push_back(temp);} - } - } - ASSERT_EQ(cb_jd.size(), 0); //All jobs -} - -TEST(BtTestSuit, basicCooperativeTest){ - // BT::BehaviorTreeFactory factory; - // factory.registerNodeType<Execution>("Execution"); - // factory.registerNodeType<PositionCondition>("PositionCondition"); - // factory.registerNodeType<Parallel_robot>("Parallel_robot"); - std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different; - - boost::circular_buffer<std::pair<std::string, job_data>> cb_jd; - job_data job1, job2, job3; - job1.jobs_ = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,0,0))}; - job2.jobs_ = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,2,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(2,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,3,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(3,2,0))}; - job3.jobs_ = {tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,0,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(1,1,0)), tf2::Transform(tf2::Quaternion(0,0,0,1),tf2::Vector3(0,0,0))}; - - std::vector<std::pair<std::string,tf2::Vector3>> boxes = {{"box1", tf2::Vector3(0,0,0)}, {"box2", tf2::Vector3(2,2,0)}}; - cb_jd.push_back({"panda_arm1", job1}); - cb_jd.push_back({"panda_arm2", job2}); - cb_jd.push_back({"panda_arm1", job3}); - - - while(!cb_jd.empty()){ - for(auto& box : boxes){ - std::pair<std::string, job_data> temp = cb_jd.front(); - if(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), box.second) == 0) { - for (int k = 1; k < temp.second.jobs_.size(); k++){ - box.second = temp.second.jobs_[k].getOrigin(); - } - cb_jd.pop_front(); - } else {cb_jd.push_back(temp);} - } - } + bool jobs_remaining = true; + while (jobs_remaining && !cb_jd.empty() && !boxes.empty()) { + bool moved = false; + for (auto it = cb_jd.begin(); it != cb_jd.end();) { + auto& temp = *it; + bool ready_to_move = true; + for (auto& box : boxes) { + if (temp.second.jobs_.front().getOrigin() == box.second) { + for (int k = 1; k < temp.second.jobs_.size(); k++) { + box.second = temp.second.jobs_[k].getOrigin(); + } + if (ready_to_move) { + moved = true; + it = cb_jd.erase(it); + break; + } + } else { + ready_to_move = false; + } + } + if (!ready_to_move) { + ++it; + } + } + jobs_remaining = moved; + } ASSERT_EQ(cb_jd.size(), 0); //All jobs } -- GitLab