...

.catkin_tools/profiles/default/devel_collisions.txt

 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 26851
+/home/matteo/reachability/devel/./cmake.lock 26877
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79

src/mtc/README.md

@@ -6,18 +6,25 @@ MTC consists of 3 executables, with each computing .yaml files for the next subs
 > mtc2taskspace >> base_routine >> cell_routine
 
 ### mtc2taskspace 
-From a Ceti dump file representing an arbitrary scene with specific locations, located in the /resources directory. Mtc2taskspace computes a taskspace.yaml file and associates each object with a drop-of-location to a robot. The shared space between robots is expressed by identical location entries for each robot involved. 
-> resulting .yaml files in /descriptions
+From a bare Ceti-resource file representing an arbitrary scene with specific locations, located in the /resources directory. Mtc2taskspace computes a new file and associates each object with a drop-of-location to a robot. The shared space between robots is expressed by identical location entries for each robot involved. <br/>
+mtc/mtc/mtc2taskspace.cpp (/resources/{resource}) -> (/descriptions/{resource}) <br/>
+roslaunch mtc mtc2taskspace.launch resource='dummy.yaml'
+
 
 ### base_routine  
-Calculates the workspace from a /descriptions file (mtc2taskspace) and a precomputed reachability map (/map), combined with information from a dump file (/resources). Creates the directory results/${dump_file_name} with the resulting dump files as contents. 
-> Replace the resulting .yaml files in the results/${dump_file_name} directory if they already exist
->> Is strictly programmed, which means that the shared space is given by the first robot, which leads to no result if the first robot is not able to carry the shared space. Also resulting dump files can break the yaml schema, because each robot has an extra rpy element which is important for franca_description -> setting robot rotation... for placing, each 8th entry must be a table[0-9]+_table_top. Cosmetic data (table_wheel...) included as placeholder
->>> Solutions: switching robots, soon to be implemented. Cosmetic data by relative definitions.
+Calculates the workspace from a descriptions file (/descriptions/{description}) and a precomputed reachability map (/map/{map}), combined with information of a resource file (/resources/{resource}). Creates the directory (results/{resource}/ros::time.yaml}) with the resulting files as contents. 
+> Replace already existing result folder if exists.
+>> Resulting files can break the yaml schema, because each robot has an extra rpy element which is important for setting robot pose in franca_description. Also each 8th entry must be a table[0-9]+_table_top id. Cosmetic data (table_wheel...) included as placeholder
+
+mtc/src/base_routine.cpp (/map/{map}, /resources/{resource}, /descriptions/{descriptions}) -> (/results/{resource}/ros::time.yaml) <br/>
+roslaunch mtc base_routine.launch resource='dummy.yaml' map='dummy.yaml' description='dummy.yaml'
 
 ### cell_routine  
-Designed to load a dump_file (+ with additional rpy component) and execute a task with moveit task constructor. A task description can also be the /descriptions file of mtc2taskspace, which is the case now.
+Designed to load a resource file (+ with additional rpy component in the right order) and execute a task with moveit task constructor. A task description can also be the /descriptions/{description} in the example.
 > Christoph's parser could not be integrated because there is no way to have multiple robots compute a task.
+mtc/src/cell_routine.cpp (/results/{result}, /descriptions/{task}) -> () <br/>
+roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy.yaml' (is coop)
+roslaunch mtc base_routine.launch result='/dummy/dummy.yaml' task='dummy2.yaml' (is parallel)
 
 
 ## Current state

src/mtc/launch/cell_routine.launch

 <launch>    
-    <arg name="result" default="dummy/-211114391.yaml" />
+    <arg name="result" default="dummy/-562289182.yaml" />
     <!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
 
     <!-- this is to change-->