From f7d41108e16ce61c1d9c964883dc73f3100b7d3a Mon Sep 17 00:00:00 2001 From: KingMaZito <matteo.aneddama@icloud.com> Date: Sun, 9 Apr 2023 21:19:56 +0200 Subject: [PATCH] launch files done --- .../-1069777227.yaml} | 0 .../configs/-1069777227_panda_arm1.yaml} | 0 .../configs/-1069777227_panda_arm2.yaml} | 0 .../launch/panda_arm1_-1069777227.launch | 58 ++++++++++++++ .../launch/panda_arm2_-1069777227.launch | 58 ++++++++++++++ .../-1591106626.yaml} | 0 .../configs/-1591106626_panda_arm1.yaml} | 0 .../configs/-1591106626_panda_arm2.yaml} | 0 .../launch/panda_arm1_-1591106626.launch | 58 ++++++++++++++ .../launch/panda_arm2_-1591106626.launch | 58 ++++++++++++++ .../-1613604190.yaml} | 0 .../configs/-1613604190_panda_arm1.yaml} | 0 .../configs/-1613604190_panda_arm2.yaml} | 0 .../launch/panda_arm1_-1613604190.launch | 58 ++++++++++++++ .../launch/panda_arm2_-1613604190.launch | 58 ++++++++++++++ .../-1756812213.yaml} | 0 .../configs/-1756812213_panda_arm1.yaml} | 0 .../configs/-1756812213_panda_arm2.yaml} | 0 .../launch/panda_arm1_-1756812213.launch | 58 ++++++++++++++ .../launch/panda_arm2_-1756812213.launch | 58 ++++++++++++++ .../-1819966056.yaml} | 0 .../configs/-1819966056_panda_arm1.yaml} | 0 .../configs/-1819966056_panda_arm2.yaml} | 0 .../launch/panda_arm1_-1819966056.launch | 58 ++++++++++++++ .../launch/panda_arm2_-1819966056.launch | 58 ++++++++++++++ .../-401688786.yaml} | 16 ++-- .../configs/-401688786_panda_arm1.yaml} | 0 .../configs/-401688786_panda_arm2.yaml} | 0 .../launch/panda_arm1_-401688786.launch | 58 ++++++++++++++ .../launch/panda_arm2_-401688786.launch | 58 ++++++++++++++ .../-572750681.yaml} | 0 .../configs/-572750681_panda_arm1.yaml} | 0 .../configs/-572750681_panda_arm2.yaml} | 0 .../launch/panda_arm1_-572750681.launch | 58 ++++++++++++++ .../launch/panda_arm2_-572750681.launch | 58 ++++++++++++++ .../-669386858.yaml} | 0 .../configs/-669386858_panda_arm1.yaml} | 0 .../configs/-669386858_panda_arm2.yaml} | 0 .../launch/panda_arm1_-669386858.launch | 58 ++++++++++++++ .../launch/panda_arm2_-669386858.launch | 58 ++++++++++++++ .../-918908789.yaml} | 0 .../configs/-918908789_panda_arm1.yaml} | 0 .../configs/-918908789_panda_arm2.yaml} | 0 .../launch/panda_arm1_-918908789.launch | 58 ++++++++++++++ .../launch/panda_arm2_-918908789.launch | 58 ++++++++++++++ .../1040381609.yaml} | 0 .../configs/1040381609_panda_arm1.yaml} | 0 .../configs/1040381609_panda_arm2.yaml} | 0 .../launch/panda_arm1_1040381609.launch | 58 ++++++++++++++ .../launch/panda_arm2_1040381609.launch | 58 ++++++++++++++ .../1053289444.yaml} | 0 .../configs/1053289444_panda_arm1.yaml} | 0 .../configs/1053289444_panda_arm2.yaml} | 0 .../launch/panda_arm1_1053289444.launch | 58 ++++++++++++++ .../launch/panda_arm2_1053289444.launch | 58 ++++++++++++++ .../110121597.yaml} | 0 .../configs/110121597_panda_arm1.yaml} | 0 .../configs/110121597_panda_arm2.yaml} | 0 .../launch/panda_arm1_110121597.launch | 58 ++++++++++++++ .../launch/panda_arm2_110121597.launch | 58 ++++++++++++++ .../1190412551.yaml} | 16 ++-- .../configs/1190412551_panda_arm1.yaml} | 0 .../configs/1190412551_panda_arm2.yaml} | 0 .../launch/panda_arm1_1190412551.launch | 58 ++++++++++++++ .../launch/panda_arm2_1190412551.launch | 58 ++++++++++++++ .../1404468123.yaml} | 0 .../configs/1404468123_panda_arm1.yaml} | 0 .../configs/1404468123_panda_arm2.yaml} | 0 .../launch/panda_arm1_1404468123.launch | 58 ++++++++++++++ .../launch/panda_arm2_1404468123.launch | 58 ++++++++++++++ .../1977885614.yaml} | 0 .../configs/1977885614_panda_arm1.yaml} | 0 .../configs/1977885614_panda_arm2.yaml} | 0 .../launch/panda_arm1_1977885614.launch | 58 ++++++++++++++ .../launch/panda_arm2_1977885614.launch | 58 ++++++++++++++ .../2080544241.yaml} | 0 .../configs/2080544241_panda_arm1.yaml} | 0 .../configs/2080544241_panda_arm2.yaml} | 0 .../launch/panda_arm1_2080544241.launch | 58 ++++++++++++++ .../launch/panda_arm2_2080544241.launch | 58 ++++++++++++++ .../576191206.yaml} | 0 .../configs/576191206_panda_arm1.yaml} | 0 .../configs/576191206_panda_arm2.yaml} | 0 .../launch/panda_arm1_576191206.launch | 58 ++++++++++++++ .../launch/panda_arm2_576191206.launch | 58 ++++++++++++++ .../96902036.yaml} | 0 .../configs/96902036_panda_arm1.yaml} | 0 .../configs/96902036_panda_arm2.yaml} | 0 .../launch/panda_arm1_96902036.launch | 58 ++++++++++++++ .../launch/panda_arm2_96902036.launch | 58 ++++++++++++++ src/mediator/base_calculation_mediator.cpp | 77 ++++++++++++++++++- 91 files changed, 2177 insertions(+), 20 deletions(-) rename results/dummy/{2082550165/2082550165.yaml => -1069777227/-1069777227.yaml} (100%) rename results/dummy/{-276051748/configs/-276051748_panda_arm1.yaml => -1069777227/configs/-1069777227_panda_arm1.yaml} (100%) rename results/dummy/{-276051748/configs/-276051748_panda_arm2.yaml => -1069777227/configs/-1069777227_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch create mode 100644 results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch rename results/dummy/{1938185681/1938185681.yaml => -1591106626/-1591106626.yaml} (100%) rename results/dummy/{-1982814221/configs/-1982814221_panda_arm1.yaml => -1591106626/configs/-1591106626_panda_arm1.yaml} (100%) rename results/dummy/{-1982814221/configs/-1982814221_panda_arm2.yaml => -1591106626/configs/-1591106626_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch create mode 100644 results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch rename results/dummy/{1334033851/1334033851.yaml => -1613604190/-1613604190.yaml} (100%) rename results/dummy/{1334033851/configs/1334033851_panda_arm1.yaml => -1613604190/configs/-1613604190_panda_arm1.yaml} (100%) rename results/dummy/{1334033851/configs/1334033851_panda_arm2.yaml => -1613604190/configs/-1613604190_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch create mode 100644 results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch rename results/dummy/{812255525/812255525.yaml => -1756812213/-1756812213.yaml} (100%) rename results/dummy/{812255525/configs/812255525_panda_arm1.yaml => -1756812213/configs/-1756812213_panda_arm1.yaml} (100%) rename results/dummy/{812255525/configs/812255525_panda_arm2.yaml => -1756812213/configs/-1756812213_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch create mode 100644 results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch rename results/dummy/{1879793725/1879793725.yaml => -1819966056/-1819966056.yaml} (100%) rename results/dummy/{-1505208581/configs/-1505208581_panda_arm1.yaml => -1819966056/configs/-1819966056_panda_arm1.yaml} (100%) rename results/dummy/{-1505208581/configs/-1505208581_panda_arm2.yaml => -1819966056/configs/-1819966056_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch create mode 100644 results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch rename results/dummy/{-276051748/-276051748.yaml => -401688786/-401688786.yaml} (90%) rename results/dummy/{-1775841698/configs/-1775841698_panda_arm1.yaml => -401688786/configs/-401688786_panda_arm1.yaml} (100%) rename results/dummy/{-1775841698/configs/-1775841698_panda_arm2.yaml => -401688786/configs/-401688786_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-401688786/launch/panda_arm1_-401688786.launch create mode 100644 results/dummy/-401688786/launch/panda_arm2_-401688786.launch rename results/dummy/{-1505208581/-1505208581.yaml => -572750681/-572750681.yaml} (100%) rename results/dummy/{1879793725/configs/1879793725_panda_arm1.yaml => -572750681/configs/-572750681_panda_arm1.yaml} (100%) rename results/dummy/{1879793725/configs/1879793725_panda_arm2.yaml => -572750681/configs/-572750681_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-572750681/launch/panda_arm1_-572750681.launch create mode 100644 results/dummy/-572750681/launch/panda_arm2_-572750681.launch rename results/dummy/{1938901935/1938901935.yaml => -669386858/-669386858.yaml} (100%) rename results/dummy/{-348871069/configs/-348871069_panda_arm1.yaml => -669386858/configs/-669386858_panda_arm1.yaml} (100%) rename results/dummy/{-348871069/configs/-348871069_panda_arm2.yaml => -669386858/configs/-669386858_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-669386858/launch/panda_arm1_-669386858.launch create mode 100644 results/dummy/-669386858/launch/panda_arm2_-669386858.launch rename results/dummy/{-1982814221/-1982814221.yaml => -918908789/-918908789.yaml} (100%) rename results/dummy/{1938185681/configs/1938185681_panda_arm1.yaml => -918908789/configs/-918908789_panda_arm1.yaml} (100%) rename results/dummy/{1938185681/configs/1938185681_panda_arm2.yaml => -918908789/configs/-918908789_panda_arm2.yaml} (100%) create mode 100644 results/dummy/-918908789/launch/panda_arm1_-918908789.launch create mode 100644 results/dummy/-918908789/launch/panda_arm2_-918908789.launch rename results/dummy/{-348871069/-348871069.yaml => 1040381609/1040381609.yaml} (100%) rename results/dummy/{1938901935/configs/1938901935_panda_arm1.yaml => 1040381609/configs/1040381609_panda_arm1.yaml} (100%) rename results/dummy/{1938901935/configs/1938901935_panda_arm2.yaml => 1040381609/configs/1040381609_panda_arm2.yaml} (100%) create mode 100644 results/dummy/1040381609/launch/panda_arm1_1040381609.launch create mode 100644 results/dummy/1040381609/launch/panda_arm2_1040381609.launch rename results/dummy/{95613651/95613651.yaml => 1053289444/1053289444.yaml} (100%) rename results/dummy/{-650013114/configs/-650013114_panda_arm1.yaml => 1053289444/configs/1053289444_panda_arm1.yaml} (100%) rename results/dummy/{-650013114/configs/-650013114_panda_arm2.yaml => 1053289444/configs/1053289444_panda_arm2.yaml} (100%) create mode 100644 results/dummy/1053289444/launch/panda_arm1_1053289444.launch create mode 100644 results/dummy/1053289444/launch/panda_arm2_1053289444.launch rename results/dummy/{-1234778859/-1234778859.yaml => 110121597/110121597.yaml} (100%) rename results/dummy/{-1234778859/configs/-1234778859_panda_arm1.yaml => 110121597/configs/110121597_panda_arm1.yaml} (100%) rename results/dummy/{-1234778859/configs/-1234778859_panda_arm2.yaml => 110121597/configs/110121597_panda_arm2.yaml} (100%) create mode 100644 results/dummy/110121597/launch/panda_arm1_110121597.launch create mode 100644 results/dummy/110121597/launch/panda_arm2_110121597.launch rename results/dummy/{-1775841698/-1775841698.yaml => 1190412551/1190412551.yaml} (89%) rename results/dummy/{2082550165/configs/2082550165_panda_arm1.yaml => 1190412551/configs/1190412551_panda_arm1.yaml} (100%) rename results/dummy/{2082550165/configs/2082550165_panda_arm2.yaml => 1190412551/configs/1190412551_panda_arm2.yaml} (100%) create mode 100644 results/dummy/1190412551/launch/panda_arm1_1190412551.launch create mode 100644 results/dummy/1190412551/launch/panda_arm2_1190412551.launch rename results/dummy/{-317753156/-317753156.yaml => 1404468123/1404468123.yaml} (100%) rename results/dummy/{-317753156/configs/-317753156_panda_arm1.yaml => 1404468123/configs/1404468123_panda_arm1.yaml} (100%) rename results/dummy/{-317753156/configs/-317753156_panda_arm2.yaml => 1404468123/configs/1404468123_panda_arm2.yaml} (100%) create mode 100644 results/dummy/1404468123/launch/panda_arm1_1404468123.launch create mode 100644 results/dummy/1404468123/launch/panda_arm2_1404468123.launch rename results/dummy/{493882106/493882106.yaml => 1977885614/1977885614.yaml} (100%) rename results/dummy/{493882106/configs/493882106_panda_arm1.yaml => 1977885614/configs/1977885614_panda_arm1.yaml} (100%) rename results/dummy/{493882106/configs/493882106_panda_arm2.yaml => 1977885614/configs/1977885614_panda_arm2.yaml} (100%) create mode 100644 results/dummy/1977885614/launch/panda_arm1_1977885614.launch create mode 100644 results/dummy/1977885614/launch/panda_arm2_1977885614.launch rename results/dummy/{66805984/66805984.yaml => 2080544241/2080544241.yaml} (100%) rename results/dummy/{66805984/configs/66805984_panda_arm1.yaml => 2080544241/configs/2080544241_panda_arm1.yaml} (100%) rename results/dummy/{66805984/configs/66805984_panda_arm2.yaml => 2080544241/configs/2080544241_panda_arm2.yaml} (100%) create mode 100644 results/dummy/2080544241/launch/panda_arm1_2080544241.launch create mode 100644 results/dummy/2080544241/launch/panda_arm2_2080544241.launch rename results/dummy/{-509770749/-509770749.yaml => 576191206/576191206.yaml} (100%) rename results/dummy/{-509770749/configs/-509770749_panda_arm1.yaml => 576191206/configs/576191206_panda_arm1.yaml} (100%) rename results/dummy/{-509770749/configs/-509770749_panda_arm2.yaml => 576191206/configs/576191206_panda_arm2.yaml} (100%) create mode 100644 results/dummy/576191206/launch/panda_arm1_576191206.launch create mode 100644 results/dummy/576191206/launch/panda_arm2_576191206.launch rename results/dummy/{-650013114/-650013114.yaml => 96902036/96902036.yaml} (100%) rename results/dummy/{95613651/configs/95613651_panda_arm1.yaml => 96902036/configs/96902036_panda_arm1.yaml} (100%) rename results/dummy/{95613651/configs/95613651_panda_arm2.yaml => 96902036/configs/96902036_panda_arm2.yaml} (100%) create mode 100644 results/dummy/96902036/launch/panda_arm1_96902036.launch create mode 100644 results/dummy/96902036/launch/panda_arm2_96902036.launch diff --git a/results/dummy/2082550165/2082550165.yaml b/results/dummy/-1069777227/-1069777227.yaml similarity index 100% rename from results/dummy/2082550165/2082550165.yaml rename to results/dummy/-1069777227/-1069777227.yaml diff --git a/results/dummy/-276051748/configs/-276051748_panda_arm1.yaml b/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml similarity index 100% rename from results/dummy/-276051748/configs/-276051748_panda_arm1.yaml rename to results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml diff --git a/results/dummy/-276051748/configs/-276051748_panda_arm2.yaml b/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml similarity index 100% rename from results/dummy/-276051748/configs/-276051748_panda_arm2.yaml rename to results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml diff --git a/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch b/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch new file mode 100644 index 0000000..f192ae6 --- /dev/null +++ b/results/dummy/-1069777227/launch/panda_arm1_-1069777227.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-1069777227/-1069777227.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch b/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch new file mode 100644 index 0000000..81f7a65 --- /dev/null +++ b/results/dummy/-1069777227/launch/panda_arm2_-1069777227.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-1069777227/-1069777227.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1069777227/configs/-1069777227_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1938185681/1938185681.yaml b/results/dummy/-1591106626/-1591106626.yaml similarity index 100% rename from results/dummy/1938185681/1938185681.yaml rename to results/dummy/-1591106626/-1591106626.yaml diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml b/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml similarity index 100% rename from results/dummy/-1982814221/configs/-1982814221_panda_arm1.yaml rename to results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml diff --git a/results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml b/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml similarity index 100% rename from results/dummy/-1982814221/configs/-1982814221_panda_arm2.yaml rename to results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml diff --git a/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch b/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch new file mode 100644 index 0000000..ccfec99 --- /dev/null +++ b/results/dummy/-1591106626/launch/panda_arm1_-1591106626.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 -3.14159"/> +<arg name="result" default="dummy/-1591106626/-1591106626.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch b/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch new file mode 100644 index 0000000..9c7acaa --- /dev/null +++ b/results/dummy/-1591106626/launch/panda_arm2_-1591106626.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 1.33714e-06"/> +<arg name="result" default="dummy/-1591106626/-1591106626.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1591106626/configs/-1591106626_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1334033851/1334033851.yaml b/results/dummy/-1613604190/-1613604190.yaml similarity index 100% rename from results/dummy/1334033851/1334033851.yaml rename to results/dummy/-1613604190/-1613604190.yaml diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm1.yaml b/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml similarity index 100% rename from results/dummy/1334033851/configs/1334033851_panda_arm1.yaml rename to results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml diff --git a/results/dummy/1334033851/configs/1334033851_panda_arm2.yaml b/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml similarity index 100% rename from results/dummy/1334033851/configs/1334033851_panda_arm2.yaml rename to results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml diff --git a/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch b/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch new file mode 100644 index 0000000..6c437b2 --- /dev/null +++ b/results/dummy/-1613604190/launch/panda_arm1_-1613604190.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-1613604190/-1613604190.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch b/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch new file mode 100644 index 0000000..cba0787 --- /dev/null +++ b/results/dummy/-1613604190/launch/panda_arm2_-1613604190.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-1613604190/-1613604190.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1613604190/configs/-1613604190_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/812255525/812255525.yaml b/results/dummy/-1756812213/-1756812213.yaml similarity index 100% rename from results/dummy/812255525/812255525.yaml rename to results/dummy/-1756812213/-1756812213.yaml diff --git a/results/dummy/812255525/configs/812255525_panda_arm1.yaml b/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml similarity index 100% rename from results/dummy/812255525/configs/812255525_panda_arm1.yaml rename to results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml diff --git a/results/dummy/812255525/configs/812255525_panda_arm2.yaml b/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml similarity index 100% rename from results/dummy/812255525/configs/812255525_panda_arm2.yaml rename to results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml diff --git a/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch b/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch new file mode 100644 index 0000000..a213858 --- /dev/null +++ b/results/dummy/-1756812213/launch/panda_arm1_-1756812213.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320002 -2.59133e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-1756812213/-1756812213.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch b/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch new file mode 100644 index 0000000..888320d --- /dev/null +++ b/results/dummy/-1756812213/launch/panda_arm2_-1756812213.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320005 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-1756812213/-1756812213.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1756812213/configs/-1756812213_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1879793725/1879793725.yaml b/results/dummy/-1819966056/-1819966056.yaml similarity index 100% rename from results/dummy/1879793725/1879793725.yaml rename to results/dummy/-1819966056/-1819966056.yaml diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml b/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml similarity index 100% rename from results/dummy/-1505208581/configs/-1505208581_panda_arm1.yaml rename to results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml diff --git a/results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml b/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml similarity index 100% rename from results/dummy/-1505208581/configs/-1505208581_panda_arm2.yaml rename to results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml diff --git a/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch b/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch new file mode 100644 index 0000000..c0d6c36 --- /dev/null +++ b/results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-1819966056/-1819966056.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch b/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch new file mode 100644 index 0000000..d85418b --- /dev/null +++ b/results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-1819966056/-1819966056.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-1819966056/configs/-1819966056_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-276051748/-276051748.yaml b/results/dummy/-401688786/-401688786.yaml similarity index 90% rename from results/dummy/-276051748/-276051748.yaml rename to results/dummy/-401688786/-401688786.yaml index 0a68d83..6411aaa 100644 --- a/results/dummy/-276051748/-276051748.yaml +++ b/results/dummy/-401688786/-401688786.yaml @@ -7,7 +7,7 @@ { 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, +{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.100002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, { 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, @@ -16,11 +16,11 @@ { 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, -{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.452498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.200000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.204998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, +{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } }, { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } }, { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.9725 }, 'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } }, @@ -30,6 +30,6 @@ { 'id': 'object4','type': 'BOX','pos': { 'x': -0.6,'y': -0.4,'z': 0.996 }, 'size': { 'length': 0.031,'width': 0.062,'height': 0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } }, { 'id': 'object5','type': 'BOX','pos': { 'x': -0.4,'y': -0.5,'z': 0.959 }, 'size': { 'length': 0.031,'width': 0.031,'height': 0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } }, { 'id': 'obstacle1','pos': { 'x': 0.34,'y': -0.11,'z': 0.94 }, 'size': { 'length': 0.3,'width': 0.3,'height': 0.1 },'orientation': { 'z': 0.452123,'w': 1 },'color': { 'b': 1 } }, -{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, -{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, '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/-1775841698/configs/-1775841698_panda_arm1.yaml b/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml similarity index 100% rename from results/dummy/-1775841698/configs/-1775841698_panda_arm1.yaml rename to results/dummy/-401688786/configs/-401688786_panda_arm1.yaml diff --git a/results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml b/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml similarity index 100% rename from results/dummy/-1775841698/configs/-1775841698_panda_arm2.yaml rename to results/dummy/-401688786/configs/-401688786_panda_arm2.yaml diff --git a/results/dummy/-401688786/launch/panda_arm1_-401688786.launch b/results/dummy/-401688786/launch/panda_arm1_-401688786.launch new file mode 100644 index 0000000..f199030 --- /dev/null +++ b/results/dummy/-401688786/launch/panda_arm1_-401688786.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-401688786/-401688786.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-401688786/launch/panda_arm2_-401688786.launch b/results/dummy/-401688786/launch/panda_arm2_-401688786.launch new file mode 100644 index 0000000..f7db1b0 --- /dev/null +++ b/results/dummy/-401688786/launch/panda_arm2_-401688786.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-401688786/-401688786.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-401688786/configs/-401688786_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1505208581/-1505208581.yaml b/results/dummy/-572750681/-572750681.yaml similarity index 100% rename from results/dummy/-1505208581/-1505208581.yaml rename to results/dummy/-572750681/-572750681.yaml diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm1.yaml b/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml similarity index 100% rename from results/dummy/1879793725/configs/1879793725_panda_arm1.yaml rename to results/dummy/-572750681/configs/-572750681_panda_arm1.yaml diff --git a/results/dummy/1879793725/configs/1879793725_panda_arm2.yaml b/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml similarity index 100% rename from results/dummy/1879793725/configs/1879793725_panda_arm2.yaml rename to results/dummy/-572750681/configs/-572750681_panda_arm2.yaml diff --git a/results/dummy/-572750681/launch/panda_arm1_-572750681.launch b/results/dummy/-572750681/launch/panda_arm1_-572750681.launch new file mode 100644 index 0000000..4359325 --- /dev/null +++ b/results/dummy/-572750681/launch/panda_arm1_-572750681.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/-572750681/-572750681.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-572750681/launch/panda_arm2_-572750681.launch b/results/dummy/-572750681/launch/panda_arm2_-572750681.launch new file mode 100644 index 0000000..a7919e9 --- /dev/null +++ b/results/dummy/-572750681/launch/panda_arm2_-572750681.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/-572750681/-572750681.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-572750681/configs/-572750681_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1938901935/1938901935.yaml b/results/dummy/-669386858/-669386858.yaml similarity index 100% rename from results/dummy/1938901935/1938901935.yaml rename to results/dummy/-669386858/-669386858.yaml diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm1.yaml b/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml similarity index 100% rename from results/dummy/-348871069/configs/-348871069_panda_arm1.yaml rename to results/dummy/-669386858/configs/-669386858_panda_arm1.yaml diff --git a/results/dummy/-348871069/configs/-348871069_panda_arm2.yaml b/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml similarity index 100% rename from results/dummy/-348871069/configs/-348871069_panda_arm2.yaml rename to results/dummy/-669386858/configs/-669386858_panda_arm2.yaml diff --git a/results/dummy/-669386858/launch/panda_arm1_-669386858.launch b/results/dummy/-669386858/launch/panda_arm1_-669386858.launch new file mode 100644 index 0000000..7e3a6fb --- /dev/null +++ b/results/dummy/-669386858/launch/panda_arm1_-669386858.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 -3.14159"/> +<arg name="result" default="dummy/-669386858/-669386858.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-669386858/launch/panda_arm2_-669386858.launch b/results/dummy/-669386858/launch/panda_arm2_-669386858.launch new file mode 100644 index 0000000..fc9cd2a --- /dev/null +++ b/results/dummy/-669386858/launch/panda_arm2_-669386858.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 1.33714e-06"/> +<arg name="result" default="dummy/-669386858/-669386858.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-669386858/configs/-669386858_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1982814221/-1982814221.yaml b/results/dummy/-918908789/-918908789.yaml similarity index 100% rename from results/dummy/-1982814221/-1982814221.yaml rename to results/dummy/-918908789/-918908789.yaml diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm1.yaml b/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml similarity index 100% rename from results/dummy/1938185681/configs/1938185681_panda_arm1.yaml rename to results/dummy/-918908789/configs/-918908789_panda_arm1.yaml diff --git a/results/dummy/1938185681/configs/1938185681_panda_arm2.yaml b/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml similarity index 100% rename from results/dummy/1938185681/configs/1938185681_panda_arm2.yaml rename to results/dummy/-918908789/configs/-918908789_panda_arm2.yaml diff --git a/results/dummy/-918908789/launch/panda_arm1_-918908789.launch b/results/dummy/-918908789/launch/panda_arm1_-918908789.launch new file mode 100644 index 0000000..6923f73 --- /dev/null +++ b/results/dummy/-918908789/launch/panda_arm1_-918908789.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="0.219998 -1.76652e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 -3.14159"/> +<arg name="result" default="dummy/-918908789/-918908789.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-918908789/launch/panda_arm2_-918908789.launch b/results/dummy/-918908789/launch/panda_arm2_-918908789.launch new file mode 100644 index 0000000..2f4d2e8 --- /dev/null +++ b/results/dummy/-918908789/launch/panda_arm2_-918908789.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220004 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 1.33714e-06"/> +<arg name="result" default="dummy/-918908789/-918908789.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/-918908789/configs/-918908789_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-348871069/-348871069.yaml b/results/dummy/1040381609/1040381609.yaml similarity index 100% rename from results/dummy/-348871069/-348871069.yaml rename to results/dummy/1040381609/1040381609.yaml diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm1.yaml b/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml similarity index 100% rename from results/dummy/1938901935/configs/1938901935_panda_arm1.yaml rename to results/dummy/1040381609/configs/1040381609_panda_arm1.yaml diff --git a/results/dummy/1938901935/configs/1938901935_panda_arm2.yaml b/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml similarity index 100% rename from results/dummy/1938901935/configs/1938901935_panda_arm2.yaml rename to results/dummy/1040381609/configs/1040381609_panda_arm2.yaml diff --git a/results/dummy/1040381609/launch/panda_arm1_1040381609.launch b/results/dummy/1040381609/launch/panda_arm1_1040381609.launch new file mode 100644 index 0000000..abe0c64 --- /dev/null +++ b/results/dummy/1040381609/launch/panda_arm1_1040381609.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 -3.14159"/> +<arg name="result" default="dummy/1040381609/1040381609.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1040381609/launch/panda_arm2_1040381609.launch b/results/dummy/1040381609/launch/panda_arm2_1040381609.launch new file mode 100644 index 0000000..8f216e3 --- /dev/null +++ b/results/dummy/1040381609/launch/panda_arm2_1040381609.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 1.33714e-06"/> +<arg name="result" default="dummy/1040381609/1040381609.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1040381609/configs/1040381609_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/95613651/95613651.yaml b/results/dummy/1053289444/1053289444.yaml similarity index 100% rename from results/dummy/95613651/95613651.yaml rename to results/dummy/1053289444/1053289444.yaml diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm1.yaml b/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml similarity index 100% rename from results/dummy/-650013114/configs/-650013114_panda_arm1.yaml rename to results/dummy/1053289444/configs/1053289444_panda_arm1.yaml diff --git a/results/dummy/-650013114/configs/-650013114_panda_arm2.yaml b/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml similarity index 100% rename from results/dummy/-650013114/configs/-650013114_panda_arm2.yaml rename to results/dummy/1053289444/configs/1053289444_panda_arm2.yaml diff --git a/results/dummy/1053289444/launch/panda_arm1_1053289444.launch b/results/dummy/1053289444/launch/panda_arm1_1053289444.launch new file mode 100644 index 0000000..a36b613 --- /dev/null +++ b/results/dummy/1053289444/launch/panda_arm1_1053289444.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/1053289444/1053289444.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1053289444/launch/panda_arm2_1053289444.launch b/results/dummy/1053289444/launch/panda_arm2_1053289444.launch new file mode 100644 index 0000000..19b2609 --- /dev/null +++ b/results/dummy/1053289444/launch/panda_arm2_1053289444.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/1053289444/1053289444.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1053289444/configs/1053289444_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1234778859/-1234778859.yaml b/results/dummy/110121597/110121597.yaml similarity index 100% rename from results/dummy/-1234778859/-1234778859.yaml rename to results/dummy/110121597/110121597.yaml diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml b/results/dummy/110121597/configs/110121597_panda_arm1.yaml similarity index 100% rename from results/dummy/-1234778859/configs/-1234778859_panda_arm1.yaml rename to results/dummy/110121597/configs/110121597_panda_arm1.yaml diff --git a/results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml b/results/dummy/110121597/configs/110121597_panda_arm2.yaml similarity index 100% rename from results/dummy/-1234778859/configs/-1234778859_panda_arm2.yaml rename to results/dummy/110121597/configs/110121597_panda_arm2.yaml diff --git a/results/dummy/110121597/launch/panda_arm1_110121597.launch b/results/dummy/110121597/launch/panda_arm1_110121597.launch new file mode 100644 index 0000000..f980693 --- /dev/null +++ b/results/dummy/110121597/launch/panda_arm1_110121597.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/110121597/110121597.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/110121597/launch/panda_arm2_110121597.launch b/results/dummy/110121597/launch/panda_arm2_110121597.launch new file mode 100644 index 0000000..77aceb2 --- /dev/null +++ b/results/dummy/110121597/launch/panda_arm2_110121597.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/110121597/110121597.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/110121597/configs/110121597_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-1775841698/-1775841698.yaml b/results/dummy/1190412551/1190412551.yaml similarity index 89% rename from results/dummy/-1775841698/-1775841698.yaml rename to results/dummy/1190412551/1190412551.yaml index 4218313..649ef1f 100644 --- a/results/dummy/-1775841698/-1775841698.yaml +++ b/results/dummy/1190412551/1190412551.yaml @@ -7,7 +7,7 @@ { 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.100002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, +{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.200002 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } }, { 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, @@ -16,11 +16,11 @@ { 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, { 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, -{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005 , 'y': 1.204998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, -{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.552498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.100000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.752502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, -{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000007 , 'y': 1.857498 , '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_table_top', 'pos': { 'x': -0.000006 , 'y': 1.402498 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000003 } }, +{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.452498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_front_panel' , 'pos': { 'x': 0.652498 , 'y': -0.200000 , 'z': 0.885000 } , 'size': { 'length': 0.500000 , 'width': 0.700000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.852502 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, +{ 'id': 'table2_right_panel' , 'pos': { 'x': -0.000008 , 'y': 2.054998 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, { 'id': 'blue1', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': -0.7, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'blue2', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': 0.3, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': 'blue3', 'type': 'BOX', 'pos': { 'x': 0.2, 'y': -0.1, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, @@ -28,6 +28,6 @@ { 'id': 'green2', 'type': 'BOX', 'pos': { 'x': 0.1, 'y': 1.91, 'z': 0.9355 },'size': { 'length': 0.0318, 'width': 0.0636, 'height': 0.091 },'orientation': { 'x':0, 'y':0, 'z':0, 'w':1},'color': { 'b': 1 } }, { 'id': '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': -0.100003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, -{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220005, 'y': 1.204997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': -0.200003, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, +{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.220006, 'y': 1.402497, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, ]} \ No newline at end of file diff --git a/results/dummy/2082550165/configs/2082550165_panda_arm1.yaml b/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml similarity index 100% rename from results/dummy/2082550165/configs/2082550165_panda_arm1.yaml rename to results/dummy/1190412551/configs/1190412551_panda_arm1.yaml diff --git a/results/dummy/2082550165/configs/2082550165_panda_arm2.yaml b/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml similarity index 100% rename from results/dummy/2082550165/configs/2082550165_panda_arm2.yaml rename to results/dummy/1190412551/configs/1190412551_panda_arm2.yaml diff --git a/results/dummy/1190412551/launch/panda_arm1_1190412551.launch b/results/dummy/1190412551/launch/panda_arm1_1190412551.launch new file mode 100644 index 0000000..e377e42 --- /dev/null +++ b/results/dummy/1190412551/launch/panda_arm1_1190412551.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -0.200003 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/1190412551/1190412551.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1190412551/launch/panda_arm2_1190412551.launch b/results/dummy/1190412551/launch/panda_arm2_1190412551.launch new file mode 100644 index 0000000..c9eef1d --- /dev/null +++ b/results/dummy/1190412551/launch/panda_arm2_1190412551.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220006 1.4025 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/1190412551/1190412551.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1190412551/configs/1190412551_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-317753156/-317753156.yaml b/results/dummy/1404468123/1404468123.yaml similarity index 100% rename from results/dummy/-317753156/-317753156.yaml rename to results/dummy/1404468123/1404468123.yaml diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm1.yaml b/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml similarity index 100% rename from results/dummy/-317753156/configs/-317753156_panda_arm1.yaml rename to results/dummy/1404468123/configs/1404468123_panda_arm1.yaml diff --git a/results/dummy/-317753156/configs/-317753156_panda_arm2.yaml b/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml similarity index 100% rename from results/dummy/-317753156/configs/-317753156_panda_arm2.yaml rename to results/dummy/1404468123/configs/1404468123_panda_arm2.yaml diff --git a/results/dummy/1404468123/launch/panda_arm1_1404468123.launch b/results/dummy/1404468123/launch/panda_arm1_1404468123.launch new file mode 100644 index 0000000..256bc9b --- /dev/null +++ b/results/dummy/1404468123/launch/panda_arm1_1404468123.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320002 -0.100003 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/1404468123/1404468123.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1404468123/launch/panda_arm2_1404468123.launch b/results/dummy/1404468123/launch/panda_arm2_1404468123.launch new file mode 100644 index 0000000..4647613 --- /dev/null +++ b/results/dummy/1404468123/launch/panda_arm2_1404468123.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320006 1.405 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/1404468123/1404468123.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1404468123/configs/1404468123_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/493882106/493882106.yaml b/results/dummy/1977885614/1977885614.yaml similarity index 100% rename from results/dummy/493882106/493882106.yaml rename to results/dummy/1977885614/1977885614.yaml diff --git a/results/dummy/493882106/configs/493882106_panda_arm1.yaml b/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml similarity index 100% rename from results/dummy/493882106/configs/493882106_panda_arm1.yaml rename to results/dummy/1977885614/configs/1977885614_panda_arm1.yaml diff --git a/results/dummy/493882106/configs/493882106_panda_arm2.yaml b/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml similarity index 100% rename from results/dummy/493882106/configs/493882106_panda_arm2.yaml rename to results/dummy/1977885614/configs/1977885614_panda_arm2.yaml diff --git a/results/dummy/1977885614/launch/panda_arm1_1977885614.launch b/results/dummy/1977885614/launch/panda_arm1_1977885614.launch new file mode 100644 index 0000000..f6e35f3 --- /dev/null +++ b/results/dummy/1977885614/launch/panda_arm1_1977885614.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320002 0.0999974 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/1977885614/1977885614.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/1977885614/launch/panda_arm2_1977885614.launch b/results/dummy/1977885614/launch/panda_arm2_1977885614.launch new file mode 100644 index 0000000..d98ad1c --- /dev/null +++ b/results/dummy/1977885614/launch/panda_arm2_1977885614.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.320005 1.405 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/1977885614/1977885614.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/1977885614/configs/1977885614_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/66805984/66805984.yaml b/results/dummy/2080544241/2080544241.yaml similarity index 100% rename from results/dummy/66805984/66805984.yaml rename to results/dummy/2080544241/2080544241.yaml diff --git a/results/dummy/66805984/configs/66805984_panda_arm1.yaml b/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml similarity index 100% rename from results/dummy/66805984/configs/66805984_panda_arm1.yaml rename to results/dummy/2080544241/configs/2080544241_panda_arm1.yaml diff --git a/results/dummy/66805984/configs/66805984_panda_arm2.yaml b/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml similarity index 100% rename from results/dummy/66805984/configs/66805984_panda_arm2.yaml rename to results/dummy/2080544241/configs/2080544241_panda_arm2.yaml diff --git a/results/dummy/2080544241/launch/panda_arm1_2080544241.launch b/results/dummy/2080544241/launch/panda_arm1_2080544241.launch new file mode 100644 index 0000000..1aa9066 --- /dev/null +++ b/results/dummy/2080544241/launch/panda_arm1_2080544241.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.420002 -2.59133e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/2080544241/2080544241.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/2080544241/launch/panda_arm2_2080544241.launch b/results/dummy/2080544241/launch/panda_arm2_2080544241.launch new file mode 100644 index 0000000..41e270c --- /dev/null +++ b/results/dummy/2080544241/launch/panda_arm2_2080544241.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.420005 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/2080544241/2080544241.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/2080544241/configs/2080544241_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-509770749/-509770749.yaml b/results/dummy/576191206/576191206.yaml similarity index 100% rename from results/dummy/-509770749/-509770749.yaml rename to results/dummy/576191206/576191206.yaml diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm1.yaml b/results/dummy/576191206/configs/576191206_panda_arm1.yaml similarity index 100% rename from results/dummy/-509770749/configs/-509770749_panda_arm1.yaml rename to results/dummy/576191206/configs/576191206_panda_arm1.yaml diff --git a/results/dummy/-509770749/configs/-509770749_panda_arm2.yaml b/results/dummy/576191206/configs/576191206_panda_arm2.yaml similarity index 100% rename from results/dummy/-509770749/configs/-509770749_panda_arm2.yaml rename to results/dummy/576191206/configs/576191206_panda_arm2.yaml diff --git a/results/dummy/576191206/launch/panda_arm1_576191206.launch b/results/dummy/576191206/launch/panda_arm1_576191206.launch new file mode 100644 index 0000000..1322bda --- /dev/null +++ b/results/dummy/576191206/launch/panda_arm1_576191206.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -0.100003 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/576191206/576191206.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/576191206/launch/panda_arm2_576191206.launch b/results/dummy/576191206/launch/panda_arm2_576191206.launch new file mode 100644 index 0000000..7217f92 --- /dev/null +++ b/results/dummy/576191206/launch/panda_arm2_576191206.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/576191206/576191206.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/576191206/configs/576191206_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/-650013114/-650013114.yaml b/results/dummy/96902036/96902036.yaml similarity index 100% rename from results/dummy/-650013114/-650013114.yaml rename to results/dummy/96902036/96902036.yaml diff --git a/results/dummy/95613651/configs/95613651_panda_arm1.yaml b/results/dummy/96902036/configs/96902036_panda_arm1.yaml similarity index 100% rename from results/dummy/95613651/configs/95613651_panda_arm1.yaml rename to results/dummy/96902036/configs/96902036_panda_arm1.yaml diff --git a/results/dummy/95613651/configs/95613651_panda_arm2.yaml b/results/dummy/96902036/configs/96902036_panda_arm2.yaml similarity index 100% rename from results/dummy/95613651/configs/95613651_panda_arm2.yaml rename to results/dummy/96902036/configs/96902036_panda_arm2.yaml diff --git a/results/dummy/96902036/launch/panda_arm1_96902036.launch b/results/dummy/96902036/launch/panda_arm1_96902036.launch new file mode 100644 index 0000000..f15c3c2 --- /dev/null +++ b/results/dummy/96902036/launch/panda_arm1_96902036.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm1" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220002 -2.59133e-06 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.49943e-06"/> +<arg name="result" default="dummy/96902036/96902036.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm1.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/results/dummy/96902036/launch/panda_arm2_96902036.launch b/results/dummy/96902036/launch/panda_arm2_96902036.launch new file mode 100644 index 0000000..cd0a495 --- /dev/null +++ b/results/dummy/96902036/launch/panda_arm2_96902036.launch @@ -0,0 +1,58 @@ +<launch> +<arg name="referenceRobot" default="panda_arm2" /> +<arg name="autoMapping" default="true" /> +<arg name="referenceXYZ" default="-0.220005 1.305 0.8875"/> +<arg name="referenceRPY" default="0 -0 2.67427e-06"/> +<arg name="result" default="dummy/96902036/96902036.yaml" /> +<rosparam command="load" file="$(find multi_cell_builder)/results/$(arg result)"/> +<rosparam param="referenceRobot" subst_value="True"> $(arg referenceRobot)</rosparam> +<rosparam param="autoMapping" subst_value="True"> $(arg autoMapping)</rosparam> +<arg name="pipeline" default="ompl"/> +<arg name="db" default="false"/> +<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db"/> +<arg name="debug" default="false" /> +<arg name="load_robot_description" default="true"/> +<arg name="moveit_controller_manager" default="fake"/> +<arg name="fake_execution_type" default="interpolate"/> +<arg name="use_gui" default="false"/> +<arg name="use_rviz" default="true"/> +<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world panda_link0"/> +<group if="$(eval arg('moveit_controller_manager') == 'fake')"> +<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> +<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> +</node> +<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/> +</group> +<include file="$(find panda_moveit_config)/launch/move_group.launch"> +<arg name="allow_trajectory_execution" value="true"/> +<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> +<arg name="fake_execution_type" value="$(arg fake_execution_type)"/> +<arg name="info" value="true"/> +<arg name="debug" value="$(arg debug)"/> +<arg name="pipeline" value="$(arg pipeline)"/> +<arg name="load_robot_description" value="$(arg load_robot_description)"/> +<arg name="referenceXYZ" value="$(arg referenceXYZ)"/> +<arg name="referenceRPY" value="$(arg referenceRPY)"/> +</include> +<include file="$(find panda_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> +<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> +</include> +<node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find moveit_grasps)/launch/rviz/grasps.rviz" output="screen"> +<rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> +</node> +<node name="config_routine" pkg="multi_cell_builder" type="config_routine" output="screen"> +<param name="gripper" value="two_finger"/> +<param name="ee_group_name" value="hand"/> +<param name="planning_group_name" value="panda_arm_hand" /> +<rosparam command="load" file="$(find gb_grasp)/config_robot/panda_grasp_data.yaml"/> +<rosparam command="load" file="$(find gb_grasp)/config/moveit_grasps_config.yaml"/> +<rosparam command="load" file="$(find multi_cell_builder)/results/dummy/96902036/configs/96902036_panda_arm2.yaml"/> +</node> +<arg name="planner" default="ompl" /> +<include ns="moveit_grasps_demo" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml"> +<arg name="pipeline" value="$(arg planner)" /> +</include> +</launch> diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp index a8f79de..36b2b3a 100644 --- a/src/mediator/base_calculation_mediator.cpp +++ b/src/mediator/base_calculation_mediator.cpp @@ -600,6 +600,7 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution float rot_z = ceti->tf().getRotation().getZ(); float rot_w = ceti->tf().getRotation().getW(); + // initial stardconfig ss << "{ 'id' : 'table" << match[1] << "_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"; ss << "{ 'id' : 'table" << match[1] << "_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},\n"; ss << "{ 'id' : 'table" << match[1] << "_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"; @@ -609,7 +610,8 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution ss << "{ 'id' : 'table" << match[1] << "_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"; ss << "{ 'id' : 'table" << match[1] << "_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"; ss << "{ 'id' : 'table" << match[1] << "_table_top', 'pos': { 'x': " << std::to_string(pos_x) << " , 'y': "<< std::to_string(pos_y) << " , 'z': "<< std::to_string(pos_z) << " },'size': { 'length': "<< std::to_string(size_x) << " ,'width': "<< std::to_string(size_y) << " ,'height': "<< std::to_string(size_z) << " },'orientation': { 'x': " << std::to_string(rot_x) << " , 'y': " << std::to_string(rot_y) << " , 'z': " << std::to_string(rot_z) << " , 'w': " << std::to_string(rot_w) << " },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': " << std::to_string(r) << " , 'p': " << std::to_string(p) << " , 'y': " << std::to_string(y) << " } },\n"; - + + // config std::stringstream config; config << "mapspace: {'dim': ["; config << size_x/2 << ", "; @@ -621,9 +623,7 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution config << "'rot': ["; config << r << ", " << p << ", " << y <<"], "; config << "'verbose': false }\n"; - config << "voxel_size: 0.02 \n"; - config << "voxel_space: {'dim': ["; config << (size_x + 0.1f)/2 << ", "; config << (size_y + 0.1f)/2 << ", 0.2], "; @@ -633,7 +633,6 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution config << (pos_z + size_z/2.0f + 0.2f/2.0f) << "], "; config << "'rot': ["; config << r << ", " << p << ", " << y <<"]}\n"; - config << "voxel_verbose_level: 0\n"; config << "translation_rate: 0.03\n"; config << "rotation_rate: 45.0\n"; @@ -683,6 +682,76 @@ void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution root_ss << "{ 'id': 'arm" << match[1] << "','type': 'ARM','pos': { 'x': " << std::to_string(arm_x) << ", 'y': " << std::to_string(arm_y) << ", 'z': 0.89 },'size': { },'orientation': { 'x': " << std::to_string(arm_qx) <<", 'y': " << std::to_string(arm_qy) << ", 'z': " << std::to_string(arm_qz) << ", 'w': " << std::to_string(arm_qw) << " },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }"; } + //launch + std::stringstream launch; + launch << "<launch>\n"; + launch << "<arg name=\"referenceRobot\" default=\""<< wc_solution[c].name_ << "\" />\n"; + launch << "<arg name=\"autoMapping\" default=\"true\" />\n"; + launch << "<arg name=\"referenceXYZ\" default=\""<< arm_x <<" "<< arm_y << " " << arm_z <<"\"/>\n"; + launch << "<arg name=\"referenceRPY\" default=\"" << r << " " << p << " " << y << "\"/>\n"; + launch << "<arg name=\"result\" default=\"" << filename_ <<"/" << resultFile << "/" << resultFile <<".yaml\" />\n"; + launch << "<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/$(arg result)\"/>\n"; + launch << "<rosparam param=\"referenceRobot\" subst_value=\"True\"> $(arg referenceRobot)</rosparam>\n"; + launch << "<rosparam param=\"autoMapping\" subst_value=\"True\"> $(arg autoMapping)</rosparam>\n"; + launch << "<arg name=\"pipeline\" default=\"ompl\"/>\n"; + launch << "<arg name=\"db\" default=\"false\"/>\n"; + launch << "<arg name=\"db_path\" default=\"$(find panda_moveit_config)/default_warehouse_mongo_db\"/>\n"; + launch << "<arg name=\"debug\" default=\"false\" />\n"; + launch << "<arg name=\"load_robot_description\" default=\"true\"/>\n"; + launch << "<arg name=\"moveit_controller_manager\" default=\"fake\"/>\n"; + launch << "<arg name=\"fake_execution_type\" default=\"interpolate\"/>\n"; + launch << "<arg name=\"use_gui\" default=\"false\"/>\n"; + launch << "<arg name=\"use_rviz\" default=\"true\"/>\n"; + launch << "<node pkg=\"tf2_ros\" type=\"static_transform_publisher\" name=\"virtual_joint_broadcaster_0\" args=\"0 0 0 0 0 0 world panda_link0\"/>\n"; + launch << "<group if=\"$(eval arg('moveit_controller_manager') == 'fake')\">\n"; + launch << "<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher\" type=\"joint_state_publisher\" unless=\"$(arg use_gui)\">\n"; + launch << "<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n"; + launch << "</node>\n"; + launch << "<node name=\"joint_state_publisher\" pkg=\"joint_state_publisher_gui\" type=\"joint_state_publisher_gui\" if=\"$(arg use_gui)\">\n"; + launch << "<rosparam param=\"source_list\">[move_group/fake_controller_joint_states]</rosparam>\n"; + launch << "</node>\n"; + launch << "<node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" respawn=\"true\" output=\"screen\"/>\n"; + launch << "</group>\n"; + launch << "<include file=\"$(find panda_moveit_config)/launch/move_group.launch\">\n"; + launch << "<arg name=\"allow_trajectory_execution\" value=\"true\"/>\n"; + launch << "<arg name=\"moveit_controller_manager\" value=\"$(arg moveit_controller_manager)\"/>\n"; + launch << "<arg name=\"fake_execution_type\" value=\"$(arg fake_execution_type)\"/>\n"; + launch << "<arg name=\"info\" value=\"true\"/>\n"; + launch << "<arg name=\"debug\" value=\"$(arg debug)\"/>\n"; + launch << "<arg name=\"pipeline\" value=\"$(arg pipeline)\"/>\n"; + launch << "<arg name=\"load_robot_description\" value=\"$(arg load_robot_description)\"/>\n"; + launch << "<arg name=\"referenceXYZ\" value=\"$(arg referenceXYZ)\"/>\n"; + launch << "<arg name=\"referenceRPY\" value=\"$(arg referenceRPY)\"/>\n"; + launch << "</include>\n"; + + launch << "<include file=\"$(find panda_moveit_config)/launch/default_warehouse_db.launch\" if=\"$(arg db)\">\n"; + launch << "<arg name=\"moveit_warehouse_database_path\" value=\"$(arg db_path)\"/>\n"; + launch << "</include>\n"; + + launch << "<node name=\"$(anon rviz)\" pkg=\"rviz\" type=\"rviz\" respawn=\"false\" args=\"-d $(find moveit_grasps)/launch/rviz/grasps.rviz\" output=\"screen\">\n"; + launch << "<rosparam command=\"load\" file=\"$(find panda_moveit_config)/config/kinematics.yaml\"/>\n"; + launch << "</node>\n"; + + launch << "<node name=\"config_routine\" pkg=\"multi_cell_builder\" type=\"config_routine\" output=\"screen\">\n"; + launch << "<param name=\"gripper\" value=\"two_finger\"/>\n"; + launch << "<param name=\"ee_group_name\" value=\"hand\"/>\n"; + launch << "<param name=\"planning_group_name\" value=\"panda_arm_hand\" />\n"; + launch << "<rosparam command=\"load\" file=\"$(find gb_grasp)/config_robot/panda_grasp_data.yaml\"/>\n"; + launch << "<rosparam command=\"load\" file=\"$(find gb_grasp)/config/moveit_grasps_config.yaml\"/>\n"; + launch << "<rosparam command=\"load\" file=\"$(find multi_cell_builder)/results/" << filename_ << "/" << resultFile << "/configs/" << resultFile << "_" << wc_solution[c].name_ << ".yaml\"/>\n"; + launch << "</node>\n"; + + launch << "<arg name=\"planner\" default=\"ompl\" />\n"; + launch << "<include ns=\"moveit_grasps_demo\" file=\"$(find panda_moveit_config)/launch/planning_pipeline.launch.xml\">\n"; + launch << "<arg name=\"pipeline\" value=\"$(arg planner)\" />\n"; + launch << "</include>\n"; + launch << "</launch>\n"; + + std::ofstream l(ros::package::getPath("multi_cell_builder") + "/results/"+ filename_ + "/" + resultFile + "/launch/" + wc_solution[c].name_+ "_" + resultFile + ".launch"); + l << launch.str(); + l.close(); + + } catch (std::out_of_range& oor) { } } -- GitLab