some fixes

.catkin_tools/profiles/default/devel_collisions.txt

 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 23953
+/home/matteo/reachability/devel/./cmake.lock 24055
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79

src/franka_description/robots/ceti_double.urdf.xacro

@@ -13,7 +13,7 @@
   <link name="world" />
 
 
-  <xacro:property name="yaml_file" value="$(find mtc)/results/dummy/-151902566.yaml" />
+  <xacro:property name="yaml_file" value="$(find mtc)/results/dummy/-1801493263.yaml" />
   <xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" />
 
   <xacro:property name="x1" value="${props['objects'][8]['pos']['x']}" />

src/mtc/README.md

@@ -35,10 +35,3 @@ State: in progress. Every executable is working with some explained downfalls th
 :black_square_button: include ferdinants work (main focus)
 
 Im working non stop, so don't forget to pull.
-
-
-
-:ballot_box_with_check:
-
-
-:ballot_box_with_check:

src/mtc/launch/base_routine.launch

 <launch>
-    <arg name="map" default="dummy" />
-    <arg name="description" default="dummy" />
+    <arg name="map" default="dummy.yaml" />
+    <arg name="description" default="dummy.yaml" />
     <arg name="resource" default="dummy" />
 
 
-    <rosparam command="load" file="$(find mtc)/maps/$(arg map).yaml"/>
-    <rosparam command="load" file="$(find mtc)/descriptions/$(arg description).yaml"/>
+    <rosparam command="load" file="$(find mtc)/maps/$(arg map)"/>
+    <rosparam command="load" file="$(find mtc)/descriptions/$(arg description)"/>
     <rosparam command="load" file="$(find mtc)/resources/$(arg resource).yaml"/>
 
     <rosparam param="resource_name" subst_value="True"> $(arg resource)</rosparam>

src/mtc/launch/cell_routine.launch

 <launch>    
+    <arg name="result" default="dummy.yaml" />
     <!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
 
     <!-- this is to change-->
-    <rosparam command="load" file="$(find mtc)/results/dummy/-151902566.yaml"/>
+    <rosparam command="load" file="$(find mtc)/results/dummy/-1801493263.yaml"/>
+
 
-    
     <rosparam command="load" file="$(find mtc)/mtc_templates/dummy.yaml" />
     <rosparam command="load" file="$(find mtc)/maps/dummy.yaml"/>
     <rosparam command="load" file="$(find mtc)/descriptions/dummy.yaml"/>

src/mtc/launch/mtc2taskspace.launch

 <launch>
-    <rosparam command="load" file="$(find mtc)/resources/dummy.yaml"/>
+    <arg name="resource" default="dummy.yaml" />
+
+    <rosparam param="resource_name" subst_value="True"> $(arg resource)</rosparam>
+    
+    <rosparam command="load" file="$(find mtc)/resources/$(arg resource)"/>
     <node pkg="mtc" type="mtc2taskspace" name="mtc2taskspace" output="screen" required="true"/>
 </launch>
\ No newline at end of file

src/mtc/results/dummy.yaml

-{ 'objects' : [ 
-{ 'id' : 'table1_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table1_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': 0.099998 , 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.000002 } },
-{ 'id' : 'table2_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},
-{ 'id' : 'table2_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50  },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, 
-{ 'id' : 'table2_table_top', 'pos': { 'x': -0.000005, 'y': 1.404998, 'z': 0.885000 },'size': { 'length': 0.800000 ,'width': 0.800000 ,'height': 0.010000 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000, 'p': -0.000000, 'y': 0.000003}},
-{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.000004 , 'y': 0.752498 , 'z': 0.885000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.000001 , 'w': 1.000000 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, 
-{ 'id': 'table1_left_panel' , 'pos': { 'x': -0.000000 , 'y': -0.552502 , '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': 2.057498 , 'z': 0.885000 },'size': { 'length': 0.700000,'width': 0.500000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } }, 
-{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.220002, 'y': 0.099997, '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': 1.404997, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.000001, 'w': 1.000000 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } } 
-]}