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Commit f7d41108 authored by KingMaZito's avatar KingMaZito
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results/dummy/-1819966056/launch/panda_arm1_-1819966056.launch 0 → 100644
+ 58
− 0
View file @ f7d41108
<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="$(arg planner)" />
</include>
</launch>
results/dummy/-1819966056/launch/panda_arm2_-1819966056.launch 0 → 100644
+ 58
− 0
View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/-1819966056/-1819966056.yaml" />
<rosparam command="load" file="$(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>
results/dummy/-276051748/-276051748.yaml → results/dummy/-401688786/-401688786.yaml
+ 8
− 8
View file @ f7d41108
......@@ -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
results/dummy/-401688786/launch/panda_arm1_-401688786.launch 0 → 100644
+ 58
− 0
View file @ f7d41108
<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="$(arg planner)" />
</include>
</launch>
results/dummy/-401688786/launch/panda_arm2_-401688786.launch 0 → 100644
+ 58
− 0
View file @ f7d41108
<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220005 1.205 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/-401688786/-401688786.yaml" />
<rosparam command="load" file="$(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="$(arg planner)" />
</include>
</launch>
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<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220002 0.0999974 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.49943e-06"/>
<arg name="result" default="dummy/-572750681/-572750681.yaml" />
<rosparam command="load" file="$(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="$(arg planner)" />
</include>
</launch>
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<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.220005 1.405 0.8875"/>
<arg name="referenceRPY" default="0 -0 2.67427e-06"/>
<arg name="result" default="dummy/-572750681/-572750681.yaml" />
<rosparam command="load" file="$(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="$(arg planner)" />
</include>
</launch>
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<launch>
<arg name="referenceRobot" default="panda_arm1" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="0.119998 -1.76652e-06 0.8875"/>
<arg name="referenceRPY" default="0 -0 -3.14159"/>
<arg name="result" default="dummy/-669386858/-669386858.yaml" />
<rosparam command="load" file="$(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="$(arg planner)" />
</include>
</launch>
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<launch>
<arg name="referenceRobot" default="panda_arm2" />
<arg name="autoMapping" default="true" />
<arg name="referenceXYZ" default="-0.320004 1.305 0.8875"/>
<arg name="referenceRPY" default="0 -0 1.33714e-06"/>
<arg name="result" default="dummy/-669386858/-669386858.yaml" />
<rosparam command="load" file="$(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>
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