From c686e06bbbb1ee7521fa1d04d3fc8be404e8292a Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Fri, 25 Nov 2022 13:10:24 +0100
Subject: [PATCH] ...
---
.../profiles/default/devel_collisions.txt | 2 +-
src/mtc/README.md | 21 ++++++++++++-------
src/mtc/launch/cell_routine.launch | 2 +-
.../dummy/{-222544024.yaml => -14976433.yaml} | 0
.../{1295853078.yaml => -1656836011.yaml} | 0
.../{1283302731.yaml => -1671801501.yaml} | 0
.../{1272105605.yaml => -1683824376.yaml} | 0
.../{1340801804.yaml => -1706168228.yaml} | 0
.../{1328208922.yaml => -1719483923.yaml} | 0
.../{1316801078.yaml => -1731052042.yaml} | 0
.../{1183415122.yaml => -1779240138.yaml} | 0
.../{1227695304.yaml => -1825479086.yaml} | 0
.../dummy/{-211114391.yaml => -2642749.yaml} | 0
.../{-742232139.yaml => -535885623.yaml} | 0
.../{-755774193.yaml => -549849544.yaml} | 0
.../{-767674851.yaml => -562289182.yaml} | 0
.../{-789859288.yaml => -586491524.yaml} | 0
.../{-803422225.yaml => -606671318.yaml} | 0
.../{-815321487.yaml => -620298450.yaml} | 0
.../{-852264234.yaml => -657407479.yaml} | 0
.../{-865767525.yaml => -671037754.yaml} | 0
.../{-877673981.yaml => -683068383.yaml} | 0
.../{-899976593.yaml => -706760442.yaml} | 0
.../{-914020264.yaml => -720385548.yaml} | 0
.../{-925946624.yaml => -732517591.yaml} | 0
.../{-1010460506.yaml => -774785188.yaml} | 0
.../{-1024001513.yaml => -788555850.yaml} | 0
.../{-1036064907.yaml => -811317163.yaml} | 0
.../{-962936586.yaml => -834662166.yaml} | 0
.../{-976487161.yaml => -848791479.yaml} | 0
.../{-988375807.yaml => -861416902.yaml} | 0
.../{-1003092792.yaml => 104202925.yaml} | 0
.../dummy/{832741068.yaml => 1183733496.yaml} | 0
.../dummy/{-947074197.yaml => 123006295.yaml} | 0
.../dummy/{880346008.yaml => 1237434762.yaml} | 0
.../dummy/{144778443.yaml => 1353640318.yaml} | 0
.../dummy/{155931149.yaml => 1365341001.yaml} | 0
.../dummy/{-934521686.yaml => 137600073.yaml} | 0
.../dummy/{168492950.yaml => 1378781438.yaml} | 0
.../dummy/{189371734.yaml => 1401169642.yaml} | 0
.../dummy/{203146650.yaml => 1413511427.yaml} | 0
.../dummy/{215783882.yaml => 1427045874.yaml} | 0
.../dummy/{-958226134.yaml => 158824668.yaml} | 0
.../dummy/{-991922905.yaml => 170127937.yaml} | 0
.../dummy/{-979308652.yaml => 182858545.yaml} | 0
.../dummy/{702701396.yaml => 1961728642.yaml} | 0
.../dummy/{714102535.yaml => 1973258416.yaml} | 0
.../dummy/{726842647.yaml => 1986420314.yaml} | 0
.../dummy/{748047042.yaml => 2009012393.yaml} | 0
.../dummy/{759537023.yaml => 2020890621.yaml} | 0
.../dummy/{772496165.yaml => 2037862740.yaml} | 0
.../dummy/{-846087811.yaml => 235473380.yaml} | 0
.../dummy/{-890048247.yaml => 283969420.yaml} | 0
.../dummy/{40651904.yaml => 319613316.yaml} | 0
.../dummy/{-270419468.yaml => 36088905.yaml} | 0
.../dummy/{88011482.yaml => 368603087.yaml} | 0
.../dummy/{-652201118.yaml => 439026223.yaml} | 0
.../dummy/{-696648853.yaml => 484352725.yaml} | 0
.../dummy/{-258879761.yaml => 48584069.yaml} | 0
.../dummy/{254319817.yaml => 551994162.yaml} | 0
.../dummy/{301530140.yaml => 606403650.yaml} | 0
.../dummy/{434875766.yaml => 759458158.yaml} | 0
.../dummy/{482378175.yaml => 810620021.yaml} | 0
.../dummy/{560822576.yaml => 886121610.yaml} | 0
.../dummy/{608106095.yaml => 939241980.yaml} | 0
src/mtc/src/impl/mediator.cpp | 9 ++++++++
src/mtc/src/impl/moveit_mediator.cpp | 3 ---
67 files changed, 25 insertions(+), 12 deletions(-)
rename src/mtc/results/dummy/{-222544024.yaml => -14976433.yaml} (100%)
rename src/mtc/results/dummy/{1295853078.yaml => -1656836011.yaml} (100%)
rename src/mtc/results/dummy/{1283302731.yaml => -1671801501.yaml} (100%)
rename src/mtc/results/dummy/{1272105605.yaml => -1683824376.yaml} (100%)
rename src/mtc/results/dummy/{1340801804.yaml => -1706168228.yaml} (100%)
rename src/mtc/results/dummy/{1328208922.yaml => -1719483923.yaml} (100%)
rename src/mtc/results/dummy/{1316801078.yaml => -1731052042.yaml} (100%)
rename src/mtc/results/dummy/{1183415122.yaml => -1779240138.yaml} (100%)
rename src/mtc/results/dummy/{1227695304.yaml => -1825479086.yaml} (100%)
rename src/mtc/results/dummy/{-211114391.yaml => -2642749.yaml} (100%)
rename src/mtc/results/dummy/{-742232139.yaml => -535885623.yaml} (100%)
rename src/mtc/results/dummy/{-755774193.yaml => -549849544.yaml} (100%)
rename src/mtc/results/dummy/{-767674851.yaml => -562289182.yaml} (100%)
rename src/mtc/results/dummy/{-789859288.yaml => -586491524.yaml} (100%)
rename src/mtc/results/dummy/{-803422225.yaml => -606671318.yaml} (100%)
rename src/mtc/results/dummy/{-815321487.yaml => -620298450.yaml} (100%)
rename src/mtc/results/dummy/{-852264234.yaml => -657407479.yaml} (100%)
rename src/mtc/results/dummy/{-865767525.yaml => -671037754.yaml} (100%)
rename src/mtc/results/dummy/{-877673981.yaml => -683068383.yaml} (100%)
rename src/mtc/results/dummy/{-899976593.yaml => -706760442.yaml} (100%)
rename src/mtc/results/dummy/{-914020264.yaml => -720385548.yaml} (100%)
rename src/mtc/results/dummy/{-925946624.yaml => -732517591.yaml} (100%)
rename src/mtc/results/dummy/{-1010460506.yaml => -774785188.yaml} (100%)
rename src/mtc/results/dummy/{-1024001513.yaml => -788555850.yaml} (100%)
rename src/mtc/results/dummy/{-1036064907.yaml => -811317163.yaml} (100%)
rename src/mtc/results/dummy/{-962936586.yaml => -834662166.yaml} (100%)
rename src/mtc/results/dummy/{-976487161.yaml => -848791479.yaml} (100%)
rename src/mtc/results/dummy/{-988375807.yaml => -861416902.yaml} (100%)
rename src/mtc/results/dummy/{-1003092792.yaml => 104202925.yaml} (100%)
rename src/mtc/results/dummy/{832741068.yaml => 1183733496.yaml} (100%)
rename src/mtc/results/dummy/{-947074197.yaml => 123006295.yaml} (100%)
rename src/mtc/results/dummy/{880346008.yaml => 1237434762.yaml} (100%)
rename src/mtc/results/dummy/{144778443.yaml => 1353640318.yaml} (100%)
rename src/mtc/results/dummy/{155931149.yaml => 1365341001.yaml} (100%)
rename src/mtc/results/dummy/{-934521686.yaml => 137600073.yaml} (100%)
rename src/mtc/results/dummy/{168492950.yaml => 1378781438.yaml} (100%)
rename src/mtc/results/dummy/{189371734.yaml => 1401169642.yaml} (100%)
rename src/mtc/results/dummy/{203146650.yaml => 1413511427.yaml} (100%)
rename src/mtc/results/dummy/{215783882.yaml => 1427045874.yaml} (100%)
rename src/mtc/results/dummy/{-958226134.yaml => 158824668.yaml} (100%)
rename src/mtc/results/dummy/{-991922905.yaml => 170127937.yaml} (100%)
rename src/mtc/results/dummy/{-979308652.yaml => 182858545.yaml} (100%)
rename src/mtc/results/dummy/{702701396.yaml => 1961728642.yaml} (100%)
rename src/mtc/results/dummy/{714102535.yaml => 1973258416.yaml} (100%)
rename src/mtc/results/dummy/{726842647.yaml => 1986420314.yaml} (100%)
rename src/mtc/results/dummy/{748047042.yaml => 2009012393.yaml} (100%)
rename src/mtc/results/dummy/{759537023.yaml => 2020890621.yaml} (100%)
rename src/mtc/results/dummy/{772496165.yaml => 2037862740.yaml} (100%)
rename src/mtc/results/dummy/{-846087811.yaml => 235473380.yaml} (100%)
rename src/mtc/results/dummy/{-890048247.yaml => 283969420.yaml} (100%)
rename src/mtc/results/dummy/{40651904.yaml => 319613316.yaml} (100%)
rename src/mtc/results/dummy/{-270419468.yaml => 36088905.yaml} (100%)
rename src/mtc/results/dummy/{88011482.yaml => 368603087.yaml} (100%)
rename src/mtc/results/dummy/{-652201118.yaml => 439026223.yaml} (100%)
rename src/mtc/results/dummy/{-696648853.yaml => 484352725.yaml} (100%)
rename src/mtc/results/dummy/{-258879761.yaml => 48584069.yaml} (100%)
rename src/mtc/results/dummy/{254319817.yaml => 551994162.yaml} (100%)
rename src/mtc/results/dummy/{301530140.yaml => 606403650.yaml} (100%)
rename src/mtc/results/dummy/{434875766.yaml => 759458158.yaml} (100%)
rename src/mtc/results/dummy/{482378175.yaml => 810620021.yaml} (100%)
rename src/mtc/results/dummy/{560822576.yaml => 886121610.yaml} (100%)
rename src/mtc/results/dummy/{608106095.yaml => 939241980.yaml} (100%)
diff --git a/.catkin_tools/profiles/default/devel_collisions.txt b/.catkin_tools/profiles/default/devel_collisions.txt
index 35d97a1..3ad86a5 100644
--- a/.catkin_tools/profiles/default/devel_collisions.txt
+++ b/.catkin_tools/profiles/default/devel_collisions.txt
@@ -1,4 +1,4 @@
/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
diff --git a/src/mtc/README.md b/src/mtc/README.md
index bb2ded4..8e6a611 100644
--- a/src/mtc/README.md
+++ b/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
diff --git a/src/mtc/launch/cell_routine.launch b/src/mtc/launch/cell_routine.launch
index 91bcb4c..5b3d3e5 100644
--- a/src/mtc/launch/cell_routine.launch
+++ b/src/mtc/launch/cell_routine.launch
@@ -1,5 +1,5 @@
<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-->
diff --git a/src/mtc/results/dummy/-222544024.yaml b/src/mtc/results/dummy/-14976433.yaml
similarity index 100%
rename from src/mtc/results/dummy/-222544024.yaml
rename to src/mtc/results/dummy/-14976433.yaml
diff --git a/src/mtc/results/dummy/1295853078.yaml b/src/mtc/results/dummy/-1656836011.yaml
similarity index 100%
rename from src/mtc/results/dummy/1295853078.yaml
rename to src/mtc/results/dummy/-1656836011.yaml
diff --git a/src/mtc/results/dummy/1283302731.yaml b/src/mtc/results/dummy/-1671801501.yaml
similarity index 100%
rename from src/mtc/results/dummy/1283302731.yaml
rename to src/mtc/results/dummy/-1671801501.yaml
diff --git a/src/mtc/results/dummy/1272105605.yaml b/src/mtc/results/dummy/-1683824376.yaml
similarity index 100%
rename from src/mtc/results/dummy/1272105605.yaml
rename to src/mtc/results/dummy/-1683824376.yaml
diff --git a/src/mtc/results/dummy/1340801804.yaml b/src/mtc/results/dummy/-1706168228.yaml
similarity index 100%
rename from src/mtc/results/dummy/1340801804.yaml
rename to src/mtc/results/dummy/-1706168228.yaml
diff --git a/src/mtc/results/dummy/1328208922.yaml b/src/mtc/results/dummy/-1719483923.yaml
similarity index 100%
rename from src/mtc/results/dummy/1328208922.yaml
rename to src/mtc/results/dummy/-1719483923.yaml
diff --git a/src/mtc/results/dummy/1316801078.yaml b/src/mtc/results/dummy/-1731052042.yaml
similarity index 100%
rename from src/mtc/results/dummy/1316801078.yaml
rename to src/mtc/results/dummy/-1731052042.yaml
diff --git a/src/mtc/results/dummy/1183415122.yaml b/src/mtc/results/dummy/-1779240138.yaml
similarity index 100%
rename from src/mtc/results/dummy/1183415122.yaml
rename to src/mtc/results/dummy/-1779240138.yaml
diff --git a/src/mtc/results/dummy/1227695304.yaml b/src/mtc/results/dummy/-1825479086.yaml
similarity index 100%
rename from src/mtc/results/dummy/1227695304.yaml
rename to src/mtc/results/dummy/-1825479086.yaml
diff --git a/src/mtc/results/dummy/-211114391.yaml b/src/mtc/results/dummy/-2642749.yaml
similarity index 100%
rename from src/mtc/results/dummy/-211114391.yaml
rename to src/mtc/results/dummy/-2642749.yaml
diff --git a/src/mtc/results/dummy/-742232139.yaml b/src/mtc/results/dummy/-535885623.yaml
similarity index 100%
rename from src/mtc/results/dummy/-742232139.yaml
rename to src/mtc/results/dummy/-535885623.yaml
diff --git a/src/mtc/results/dummy/-755774193.yaml b/src/mtc/results/dummy/-549849544.yaml
similarity index 100%
rename from src/mtc/results/dummy/-755774193.yaml
rename to src/mtc/results/dummy/-549849544.yaml
diff --git a/src/mtc/results/dummy/-767674851.yaml b/src/mtc/results/dummy/-562289182.yaml
similarity index 100%
rename from src/mtc/results/dummy/-767674851.yaml
rename to src/mtc/results/dummy/-562289182.yaml
diff --git a/src/mtc/results/dummy/-789859288.yaml b/src/mtc/results/dummy/-586491524.yaml
similarity index 100%
rename from src/mtc/results/dummy/-789859288.yaml
rename to src/mtc/results/dummy/-586491524.yaml
diff --git a/src/mtc/results/dummy/-803422225.yaml b/src/mtc/results/dummy/-606671318.yaml
similarity index 100%
rename from src/mtc/results/dummy/-803422225.yaml
rename to src/mtc/results/dummy/-606671318.yaml
diff --git a/src/mtc/results/dummy/-815321487.yaml b/src/mtc/results/dummy/-620298450.yaml
similarity index 100%
rename from src/mtc/results/dummy/-815321487.yaml
rename to src/mtc/results/dummy/-620298450.yaml
diff --git a/src/mtc/results/dummy/-852264234.yaml b/src/mtc/results/dummy/-657407479.yaml
similarity index 100%
rename from src/mtc/results/dummy/-852264234.yaml
rename to src/mtc/results/dummy/-657407479.yaml
diff --git a/src/mtc/results/dummy/-865767525.yaml b/src/mtc/results/dummy/-671037754.yaml
similarity index 100%
rename from src/mtc/results/dummy/-865767525.yaml
rename to src/mtc/results/dummy/-671037754.yaml
diff --git a/src/mtc/results/dummy/-877673981.yaml b/src/mtc/results/dummy/-683068383.yaml
similarity index 100%
rename from src/mtc/results/dummy/-877673981.yaml
rename to src/mtc/results/dummy/-683068383.yaml
diff --git a/src/mtc/results/dummy/-899976593.yaml b/src/mtc/results/dummy/-706760442.yaml
similarity index 100%
rename from src/mtc/results/dummy/-899976593.yaml
rename to src/mtc/results/dummy/-706760442.yaml
diff --git a/src/mtc/results/dummy/-914020264.yaml b/src/mtc/results/dummy/-720385548.yaml
similarity index 100%
rename from src/mtc/results/dummy/-914020264.yaml
rename to src/mtc/results/dummy/-720385548.yaml
diff --git a/src/mtc/results/dummy/-925946624.yaml b/src/mtc/results/dummy/-732517591.yaml
similarity index 100%
rename from src/mtc/results/dummy/-925946624.yaml
rename to src/mtc/results/dummy/-732517591.yaml
diff --git a/src/mtc/results/dummy/-1010460506.yaml b/src/mtc/results/dummy/-774785188.yaml
similarity index 100%
rename from src/mtc/results/dummy/-1010460506.yaml
rename to src/mtc/results/dummy/-774785188.yaml
diff --git a/src/mtc/results/dummy/-1024001513.yaml b/src/mtc/results/dummy/-788555850.yaml
similarity index 100%
rename from src/mtc/results/dummy/-1024001513.yaml
rename to src/mtc/results/dummy/-788555850.yaml
diff --git a/src/mtc/results/dummy/-1036064907.yaml b/src/mtc/results/dummy/-811317163.yaml
similarity index 100%
rename from src/mtc/results/dummy/-1036064907.yaml
rename to src/mtc/results/dummy/-811317163.yaml
diff --git a/src/mtc/results/dummy/-962936586.yaml b/src/mtc/results/dummy/-834662166.yaml
similarity index 100%
rename from src/mtc/results/dummy/-962936586.yaml
rename to src/mtc/results/dummy/-834662166.yaml
diff --git a/src/mtc/results/dummy/-976487161.yaml b/src/mtc/results/dummy/-848791479.yaml
similarity index 100%
rename from src/mtc/results/dummy/-976487161.yaml
rename to src/mtc/results/dummy/-848791479.yaml
diff --git a/src/mtc/results/dummy/-988375807.yaml b/src/mtc/results/dummy/-861416902.yaml
similarity index 100%
rename from src/mtc/results/dummy/-988375807.yaml
rename to src/mtc/results/dummy/-861416902.yaml
diff --git a/src/mtc/results/dummy/-1003092792.yaml b/src/mtc/results/dummy/104202925.yaml
similarity index 100%
rename from src/mtc/results/dummy/-1003092792.yaml
rename to src/mtc/results/dummy/104202925.yaml
diff --git a/src/mtc/results/dummy/832741068.yaml b/src/mtc/results/dummy/1183733496.yaml
similarity index 100%
rename from src/mtc/results/dummy/832741068.yaml
rename to src/mtc/results/dummy/1183733496.yaml
diff --git a/src/mtc/results/dummy/-947074197.yaml b/src/mtc/results/dummy/123006295.yaml
similarity index 100%
rename from src/mtc/results/dummy/-947074197.yaml
rename to src/mtc/results/dummy/123006295.yaml
diff --git a/src/mtc/results/dummy/880346008.yaml b/src/mtc/results/dummy/1237434762.yaml
similarity index 100%
rename from src/mtc/results/dummy/880346008.yaml
rename to src/mtc/results/dummy/1237434762.yaml
diff --git a/src/mtc/results/dummy/144778443.yaml b/src/mtc/results/dummy/1353640318.yaml
similarity index 100%
rename from src/mtc/results/dummy/144778443.yaml
rename to src/mtc/results/dummy/1353640318.yaml
diff --git a/src/mtc/results/dummy/155931149.yaml b/src/mtc/results/dummy/1365341001.yaml
similarity index 100%
rename from src/mtc/results/dummy/155931149.yaml
rename to src/mtc/results/dummy/1365341001.yaml
diff --git a/src/mtc/results/dummy/-934521686.yaml b/src/mtc/results/dummy/137600073.yaml
similarity index 100%
rename from src/mtc/results/dummy/-934521686.yaml
rename to src/mtc/results/dummy/137600073.yaml
diff --git a/src/mtc/results/dummy/168492950.yaml b/src/mtc/results/dummy/1378781438.yaml
similarity index 100%
rename from src/mtc/results/dummy/168492950.yaml
rename to src/mtc/results/dummy/1378781438.yaml
diff --git a/src/mtc/results/dummy/189371734.yaml b/src/mtc/results/dummy/1401169642.yaml
similarity index 100%
rename from src/mtc/results/dummy/189371734.yaml
rename to src/mtc/results/dummy/1401169642.yaml
diff --git a/src/mtc/results/dummy/203146650.yaml b/src/mtc/results/dummy/1413511427.yaml
similarity index 100%
rename from src/mtc/results/dummy/203146650.yaml
rename to src/mtc/results/dummy/1413511427.yaml
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diff --git a/src/mtc/results/dummy/482378175.yaml b/src/mtc/results/dummy/810620021.yaml
similarity index 100%
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diff --git a/src/mtc/results/dummy/560822576.yaml b/src/mtc/results/dummy/886121610.yaml
similarity index 100%
rename from src/mtc/results/dummy/560822576.yaml
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diff --git a/src/mtc/results/dummy/608106095.yaml b/src/mtc/results/dummy/939241980.yaml
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diff --git a/src/mtc/src/impl/mediator.cpp b/src/mtc/src/impl/mediator.cpp
index b3c1ffc..fadea82 100644
--- a/src/mtc/src/impl/mediator.cpp
+++ b/src/mtc/src/impl/mediator.cpp
@@ -128,6 +128,15 @@ void Mediator::mediate(){
}
calculate(ground_per_robot);
+
+ //swap
+ Abstract_robot* ar = robots_[1];
+ robots_[1] = robots_[0];
+ robots_[0] = ar;
+
+ calculate(ground_per_robot);
+
+
}
void Mediator::calculate(std::vector<tf2::Transform>& ground_per_robot){
diff --git a/src/mtc/src/impl/moveit_mediator.cpp b/src/mtc/src/impl/moveit_mediator.cpp
index 2071a41..d5aeb04 100644
--- a/src/mtc/src/impl/moveit_mediator.cpp
+++ b/src/mtc/src/impl/moveit_mediator.cpp
@@ -74,7 +74,6 @@ void Moveit_mediator::build_wings(std::bitset<3>& wing, int& robot){
for (std::size_t i = 0; i < result.size(); i++){
if (result[i]){
- ROS_INFO("%i", i);
ceti->register_observers(wings_[robot][i]);
}
}
@@ -93,8 +92,6 @@ void Moveit_mediator::set_wings(std::vector<std::pair<std::vector<object_data>,
void Moveit_mediator::setup_task(){
ROS_INFO("=> write Task Constructor Objects");
- ROS_INFO("=> ");
-
bool coop = false;
--
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