...

.catkin_tools/profiles/default/devel_collisions.txt

 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 26292
+/home/matteo/reachability/devel/./cmake.lock 26305
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79

src/mtc/src/impl/moveit_mediator.cpp

@@ -140,7 +140,7 @@ void Moveit_mediator::setup_task(){
 		}
 	} else {
 		moveit_msgs::CollisionObject bottle1;
-		bottle1.id = "bottle0";
+		bottle1.id = "bottle1";
 		bottle1.header.frame_id = "world";
 		bottle1.header.stamp = ros::Time::now();
 		bottle1.primitives.resize(1);
@@ -161,7 +161,7 @@ void Moveit_mediator::setup_task(){
 		bottle1.operation = bottle1.ADD;
 
 		moveit_msgs::CollisionObject bottle2;
-		bottle2.id = "bottle1";
+		bottle2.id = "bottle2";
 		bottle2.header.frame_id = "world";
 		bottle2.header.stamp = ros::Time::now();
 		bottle2.primitives.resize(1);
@@ -188,9 +188,9 @@ void Moveit_mediator::setup_task(){
 		std::vector<std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>> tasks;
 
 		for (int i = 0 ; i < objects_.size(); i++){
-			std::stringstream ss;
-			ss << "bottle" << std::to_string(i);
 			Moveit_robot* mr = dynamic_cast<Moveit_robot*>(robots_[i]);
+			std::stringstream ss;
+			ss << "bottle" << std::to_string(robots_[i]->name().back());
 			std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> tasks_per_robot;
 			for (int j = 1; j < objects_[i].size(); j++){
 				moveit::task_constructor::Task mgt = create_Task(mr, psi_->getObjects().at(ss.str()), objects_[i][j]);
@@ -256,10 +256,13 @@ void Moveit_mediator::setup_task(){
 					ROS_INFO("entry names");
 					for (auto  den : ps1->allowed_collision_matrix.entry_names){
 						ROS_INFO("%s", den.c_str());
+						ROS_INFO("count %i", ps1->allowed_collision_matrix.entry_names.size());
 					}					
 					ROS_INFO("entry values");
 					for (auto  den : ps1->allowed_collision_matrix.entry_values){
 						for (auto ene : den.enabled) ROS_INFO("%i", ene);
+						ROS_INFO("count %i", den.enabled.size());
+
 					}
 					ROS_INFO("[Robot 1] fft");
 					for (auto  ft : ps1->fixed_frame_transforms){
@@ -326,10 +329,13 @@ void Moveit_mediator::setup_task(){
 					ROS_INFO("entry names");
 					for (auto  den : ps2->allowed_collision_matrix.entry_names){
 						ROS_INFO("%s", den.c_str());
+						ROS_INFO("count %i", ps2->allowed_collision_matrix.entry_names.size());
+
 					}					
 					ROS_INFO("entry values");
 					for (auto  den : ps2->allowed_collision_matrix.entry_values){
 						for (auto ene : den.enabled) ROS_INFO("%i", ene);
+						ROS_INFO("count %i", den.enabled.size());
 					}
 					ROS_INFO("[Robot 2] fft");
 					for (auto  ft : ps2->fixed_frame_transforms){
@@ -403,6 +409,9 @@ void Moveit_mediator::setup_task(){
 }
 
 void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& origin, moveit_msgs::PlanningScene* merge, Moveit_robot* mr){
+	for (auto acm : merge->allowed_collision_matrix.default_entry_names){
+			// dafd
+	}
 
 }