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Commit f498381f authored by KingMaZito's avatar KingMaZito
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mtc fully integrated, urdf changed, results are store as usual dummy files

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.catkin_tools/profiles/default/devel_collisions.txt
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/home/matteo/ws_panda/devel/./cmake.lock 42 /home/matteo/ws_panda/devel/./cmake.lock 42
/home/matteo/reachability/devel/./cmake.lock 12715 /home/matteo/reachability/devel/./cmake.lock 14204
/home/matteo/reachability/devel/lib/libmoveit_grasps.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
/home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79
src/.vscode/c_cpp_properties.json
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...@@ -38,7 +38,8 @@ ...@@ -38,7 +38,8 @@
"${workspaceFolder}/mtc/include/impl/ho", "${workspaceFolder}/mtc/include/impl/ho",
"${workspaceFolder}/mtc/src", "${workspaceFolder}/mtc/src",
"${workspaceFolder}/yaml_to_mtc/include", "${workspaceFolder}/yaml_to_mtc/include",
"${workspaceFolder}/moveit_task_constructor/core/include" "${workspaceFolder}/moveit_task_constructor/core/include",
"${workspaceFolder}/moveit_task_constructor/"
], ],
"name": "ROS" "name": "ROS"
} }
......
src/franka_description/robots/ceti_double.urdf.xacro
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...@@ -10,33 +10,32 @@ ...@@ -10,33 +10,32 @@
<link name="world" /> <link name="world" />
<xacro:property name="yaml_file" value="$(find mtc)/results/-671106318.yaml" /> <xacro:property name="yaml_file" value="$(find mtc)/results/-229104537.yaml" />
<xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" /> <xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" />
<xacro:property name="x1" value="${props['Robot_arm1']['pos_x']}" /> <xacro:property name="x1" value="${props['objects'][8]['pos']['x']}" />
<xacro:property name="y1" value="${props['Robot_arm1']['pos_y']}" /> <xacro:property name="y1" value="${props['objects'][8]['pos']['y']}" />
<xacro:property name="z1" value="${props['Robot_arm1']['pos_z']}" /> <xacro:property name="z1" value="${props['objects'][8]['pos']['z']}" />
<xacro:property name="rpy1" value="${props['Robot_arm1']['rpy']}" /> <xacro:property name="rpy1" value="${props['objects'][8]['rpy']['r']} ${props['objects'][8]['rpy']['p']} ${props['objects'][8]['rpy']['y']}" />
<xacro:property name="x2" value="${props['objects'][17]['pos']['x']}" />
<xacro:property name="x2" value="${props['Robot_arm2']['pos_x']}" /> <xacro:property name="y2" value="${props['objects'][17]['pos']['y']}" />
<xacro:property name="y2" value="${props['Robot_arm2']['pos_y']}" /> <xacro:property name="z2" value="${props['objects'][17]['pos']['z']}" />
<xacro:property name="z2" value="${props['Robot_arm2']['pos_z']}" /> <xacro:property name="rpy2" value="${props['objects'][17]['rpy']['r']} ${props['objects'][17]['rpy']['p']} ${props['objects'][17]['rpy']['y']}" />
<xacro:property name="rpy2" value="${props['Robot_arm2']['rpy']}" />
<!-- Dummy Link --> <!-- Dummy Link -->
<joint name="base_joint1" type="fixed"> <joint name="base_joint1" type="fixed">
<parent link="world" /> <parent link="world" />
<child link="base_1" /> <child link="base_1" />
<origin xyz="${x1} ${y1} ${z1}" rpy="${rpy1}"/> <origin xyz="${x1} ${y1} ${z1 * 0.5}" rpy="${rpy1}"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
<joint name="base_joint2" type="fixed"> <joint name="base_joint2" type="fixed">
<parent link="world" /> <parent link="world" />
<child link="base_2" /> <child link="base_2" />
<origin xyz="${x2} ${y2} ${z2}" rpy="${rpy2}"/> <origin xyz="${x2} ${y2} ${z2 * 0.5}" rpy="${rpy2}"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
...@@ -45,7 +44,7 @@ ...@@ -45,7 +44,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size="0.8 0.8 0.885" /> <box size="0.8 0.8 ${z1}" />
</geometry> </geometry>
<material name="White"> <material name="White">
<color rgba="1.0 1.0 1.0 1.0"/> <color rgba="1.0 1.0 1.0 1.0"/>
...@@ -54,7 +53,7 @@ ...@@ -54,7 +53,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size="0.8 0.8 0.885" /> <box size="0.8 0.8 ${z1}" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -63,7 +62,7 @@ ...@@ -63,7 +62,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size="0.8 0.8 0.885" /> <box size="0.8 0.8 ${z2}" />
</geometry> </geometry>
<material name="White"> <material name="White">
<color rgba="1.0 1.0 1.0 1.0"/> <color rgba="1.0 1.0 1.0 1.0"/>
...@@ -72,18 +71,18 @@ ...@@ -72,18 +71,18 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size="0.8 0.8 0.885" /> <box size="0.8 0.8 ${z2}" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
<!-- right arm with gripper --> <!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base_1" xyz="-0.22 0 ${z1}" /> <xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base_1" xyz="-0.22 0 ${z1 * 0.5}" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" /> <xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" />
<!-- left arm with gripper --> <!-- left arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="base_2" xyz="-0.22 0 ${z2}" /> <xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="base_2" xyz="-0.22 0 ${z2 * 0.5}" />
<xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8"/> <xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8"/>
</robot> </robot>
src/mtc/include/impl/abstract_map_loader.h
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...@@ -14,9 +14,12 @@ ...@@ -14,9 +14,12 @@
#include <yaml-cpp/yaml.h> #include <yaml-cpp/yaml.h>
#include <fstream> #include <fstream>
#include "impl/abstract_robot.h"
#include "impl/abstract_strategy.h" #include "impl/abstract_strategy.h"
class Abstract_strategy; class Abstract_strategy;
class Abstract_robot;
class Abstract_map_loader{ class Abstract_map_loader{
protected: protected:
...@@ -47,7 +50,7 @@ class Abstract_map_loader{ ...@@ -47,7 +50,7 @@ class Abstract_map_loader{
inline std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud () { return target_cloud_;} inline std::vector<std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud () { return target_cloud_;}
static std::vector<pcl::PointXYZ> create_pcl_box(); static std::vector<pcl::PointXYZ> create_pcl_box();
virtual void write_task()=0; virtual void write_task(Abstract_robot* robot)=0;
virtual std::vector<std::vector<pcl::PointXYZ>> base_calculation()=0; virtual std::vector<std::vector<pcl::PointXYZ>> base_calculation()=0;
}; };
#endif #endif
src/mtc/include/impl/abstract_mediator.h
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...@@ -20,9 +20,10 @@ ...@@ -20,9 +20,10 @@
#define M_POS tf2::Vector3(0.6525f,0,0.4425f-0.005f) #define M_POS tf2::Vector3(0.6525f,0,0.4425f-0.005f)
struct wing_BP { struct wing_BP {
std::string name_;
tf2::Transform pos_; tf2::Transform pos_;
tf2::Vector3 size_; tf2::Vector3 size_;
wing_BP(tf2::Transform pos, tf2::Vector3 size) : pos_(pos), size_(size){}; wing_BP(std::string name, tf2::Transform pos, tf2::Vector3 size) : name_ (name), pos_(pos), size_(size){};
}; };
...@@ -41,9 +42,9 @@ class Abstract_mediator { ...@@ -41,9 +42,9 @@ class Abstract_mediator {
public: public:
Abstract_mediator(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub) : objects_(objects), pub_(pub){ Abstract_mediator(std::vector<std::vector<tf2::Transform>> objects, ros::Publisher* pub) : objects_(objects), pub_(pub){
wings_.push_back(wing_BP(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0.6525f,0.4425f -0.005f)), right_size)); wings_.push_back(wing_BP("right_panel", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0.6525f,0.4425f -0.005f)), right_size));
wings_.push_back(wing_BP(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.6525f,0,0.4425f-0.005f)), mid_size)); wings_.push_back(wing_BP("front_panel", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.6525f,0,0.4425f-0.005f)), mid_size));
wings_.push_back(wing_BP(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-0.6525f,0.4425f -0.005f)), left_size)); wings_.push_back(wing_BP("left_panel", tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-0.6525f,0.4425f -0.005f)), left_size));
} }
inline void connect_robots(Abstract_robot* robot) {robots_.push_back(robot); ROS_INFO("%s connected...", robot->name().c_str());} inline void connect_robots(Abstract_robot* robot) {robots_.push_back(robot); ROS_INFO("%s connected...", robot->name().c_str());}
......
src/mtc/include/impl/map_loader.h
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...@@ -11,7 +11,7 @@ class Map_loader : public Abstract_map_loader { ...@@ -11,7 +11,7 @@ class Map_loader : public Abstract_map_loader {
public: public:
Map_loader(XmlRpc::XmlRpcValue& map_data, XmlRpc::XmlRpcValue& target_data); Map_loader(XmlRpc::XmlRpcValue& map_data, XmlRpc::XmlRpcValue& target_data);
std::vector<std::vector<pcl::PointXYZ>> base_calculation() override; std::vector<std::vector<pcl::PointXYZ>> base_calculation() override;
void write_task() override; void write_task(Abstract_robot* robot) override;
}; };
#endif #endif
\ No newline at end of file
src/mtc/include/impl/wing.h
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...@@ -6,17 +6,20 @@ ...@@ -6,17 +6,20 @@
class Wing : public Abstract_robot_element{ class Wing : public Abstract_robot_element{
private: private:
std::string name_;
tf2::Vector3 size_; tf2::Vector3 size_;
std::vector<tf2::Transform> bounds_; std::vector<tf2::Transform> bounds_;
public: public:
Wing(tf2::Transform tf, tf2::Vector3 size) : size_(size){ Wing(std::string name, tf2::Transform tf, tf2::Vector3 size) : size_(size), name_(name){
relative_tf_ = tf; relative_tf_ = tf;
bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/2.f,0))); //++ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/2.f,0))); //++
bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/-2.f,0))); //+- bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/2.f, size_.getY()/-2.f,0))); //+-
bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/-2.f,0))); //-- bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/-2.f,0))); //--
bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/2.f,0))); //-+ bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(size_.getX()/-2.f, size_.getY()/2.f,0))); //-+
} }
inline std::string& name() {return name_;}
inline tf2::Vector3 size(){ return size_;} inline tf2::Vector3 size(){ return size_;}
inline std::vector<tf2::Transform>& bounds() {return bounds_;} inline std::vector<tf2::Transform>& bounds() {return bounds_;}
void update(tf2::Transform& tf) override {this->calc_world_tf(tf);} void update(tf2::Transform& tf) override {this->calc_world_tf(tf);}
......
src/mtc/launch/cell_routine.launch
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<launch> <launch>
<!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> --> <!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
<rosparam command="load" file="$(find mtc)/results/-671106318.yaml"/> <rosparam command="load" file="$(find mtc)/results/-229104537.yaml"/>
<rosparam command="load" file="$(find mtc)/mtc_task_file/dummy.yaml" /> <rosparam command="load" file="$(find mtc)/mtc_task_file/dummy.yaml" />
<rosparam command="load" file="$(find mtc)/maps/dummy.yaml"/> <rosparam command="load" file="$(find mtc)/maps/dummy.yaml"/>
<rosparam command="load" file="$(find mtc)/descriptions/dummy.yaml"/> <rosparam command="load" file="$(find mtc)/descriptions/dummy.yaml"/>
......
src/mtc/mtc_task_file/dummy.yaml
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planners: planners:
- id: "cartesian" - id: cartesian
type: "CartesianPath" type: CartesianPath
- id: "sampling" - id: sampling
type: "PipelinePlanner" type: PipelinePlanner
properties: properties:
step_size: 0.005 step_size: 0.005
goal_joint_tolerance: 0.00001 goal_joint_tolerance: 9.999999747378752e-06
- id: "interpolation" - id: interpolation
type: "JointInterpolationPlanner" type: JointInterpolationPlanner
task: task:
name: "Pick and Place test" name: Pick and Place test
properties: properties:
group: "panda_arm1" group: panda_arm1
eef: "hand_1" eef: hand_1
hand_grasping_frame: "panda_1_link8" hand_grasping_frame: panda_1_link8
ik_frame: "panda_1_link8" ik_frame: panda_1_link8
hand: "hand_1" hand: hand_1
stages: stages:
- name: "current" - name: current
type: "CurrentState" type: CurrentState
- name: "move to ready" - name: move to ready
type: "MoveTo" type: MoveTo
id: "ready" id: ready
planner: "sampling" planner: sampling
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: values:
- "group" - group
set: set:
goal: "ready" goal: ready
- type: "MoveTo" - type: MoveTo
planner: "sampling" planner: sampling
id: "hand_open" id: hand_open
properties: properties:
group: "hand_1" group: hand_1
set: set:
goal: "open" goal: open
- type: "Connect" - type: Connect
group_planner_vector: group_planner_vector:
panda_arm1: "sampling" panda_arm1: sampling
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
- type: SerialContainer - type: SerialContainer
name: "grasp" name: grasp
properties_exposeTo: properties_exposeTo:
source: "task" source: task
values: ["eef", "hand", "group", "ik_frame"] values: [eef, hand, group, ik_frame]
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: ["eef", "hand", "group", "ik_frame"] values: [eef, hand, group, ik_frame]
stages: stages:
- type: "MoveRelative" - type: MoveRelative
planner: "cartesian" planner: cartesian
properties: properties:
link: "panda_1_link8" link: panda_1_link8
min_distance: 0.07 min_distance: 0.07
max_distance: 0.2 max_distance: 0.2
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: ["group"] values: [group]
set: set:
direction: direction:
vector: {x: 0.0, y: 0.0, z: 1.0, header: {frame_id: "panda_1_link8"}} vector: {x: 0.0, y: 0.0, z: 1.0, header: {frame_id: panda_1_link8}}
- type: "ComputeIK" - type: ComputeIK
properties: {max_ik_solutions: 5} properties: {max_ik_solutions: 5}
set: set:
ik_frame: ik_frame:
isometry: isometry:
translation: {x: 0.1, y: 0.0, z: 0.0} translation: {x: 0.1, y: 0.0, z: 0.0}
quaternion: {r: 1.571, p: 0.785, y: 1.571} quaternion: {r: 1.571, p: 0.785, y: 1.571}
link: "panda_1_link8" link: panda_1_link8
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
- source: "PARENT" - source: PARENT
values: ["eef", "group"] values: [eef, group]
- source: "INTERFACE" - source: INTERFACE
values: ["target_pose"] values: [target_pose]
stage: stage:
type: "GenerateGraspPose" type: GenerateGraspPose
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
properties: properties:
object: "bottle" object: bottle
angle_delta: 1.571 angle_delta: 1.571
pregrasp: "open" pregrasp: open
set: set:
monitored_stage: "ready" monitored_stage: ready
- type: "ModifyPlanningScene" - type: ModifyPlanningScene
set: set:
allow_collisions: allow_collisions:
first: "bottle" first: bottle
second: second:
joint_model_group_name: "hand_1" joint_model_group_name: hand_1
allow: true allow: true
- type: "MoveTo" - type: MoveTo
planner: "sampling" planner: sampling
properties: properties:
group: "hand_1" group: hand_1
set: set:
goal: "close" goal: close
- type: "ModifyPlanningScene" - type: ModifyPlanningScene
set: set:
attach_object: attach_object:
object: "bottle" object: bottle
link: "panda_1_link8" link: panda_1_link8
- type: "MoveRelative" - type: MoveRelative
planner: "cartesian" planner: cartesian
id: "pick_up" id: pick_up
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: ["group"] values: [group]
properties: properties:
min_distance: 0.1 min_distance: 0.1
max_distance: 0.2 max_distance: 0.2
set: set:
ik_frame: ik_frame:
link: "panda_1_link8" link: panda_1_link8
direction: direction:
vector: {x: 0.0, y: 0.0, z: 1.0} vector: {x: 0.0, y: 0.0, z: 1.0}
- type: "Connect" - type: Connect
group_planner_vector: group_planner_vector:
panda_arm1: "sampling" panda_arm1: sampling
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
- type: SerialContainer - type: SerialContainer
name: "place" name: place
properties_exposeTo: properties_exposeTo:
source: "task" source: task
values: ["eef", "hand", "group", "ik_frame"] values: [eef, hand, group, ik_frame]
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
stages: stages:
- type: "MoveRelative" - type: MoveRelative
planner: "cartesian" planner: cartesian
properties: properties:
link: "panda_1_link8" link: panda_1_link8
min_distance: 0.1 min_distance: 0.1
max_distance: 0.2 max_distance: 0.2
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: ["group"] values: [group]
set: set:
direction: direction:
vector: {x: 0.0, y: 0.0, z: -1.0} vector: {x: 0.0, y: 0.0, z: -1.0}
- type: "ComputeIK" - type: ComputeIK
properties: {max_ik_solutions: 5} properties: {max_ik_solutions: 5}
set: set:
ik_frame: ik_frame:
isometry: isometry:
translation: {x: 0.1, y: 0.0, z: 0.0} translation: {x: 0.1, y: 0.0, z: 0.0}
quaternion: {r: 1.571, p: 0.785, y: 1.571} quaternion: {r: 1.571, p: 0.785, y: 1.571}
link: "panda_1_link8" link: panda_1_link8
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
- source: "PARENT" - source: PARENT
values: ["eef", "group"] values: [eef, group]
- source: "INTERFACE" - source: INTERFACE
values: ["target_pose"] values: [target_pose]
stage: stage:
type: "GeneratePose" type: GeneratePose
set: set:
monitored_stage: "pick_up" monitored_stage: pick_up
pose: pose:
point: {x: 0.1, y: 0.3, z: 0.9305} point: {x: 0.200000, y: 0.400000, z: 0.9305}
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
- type: "MoveTo" - type: MoveTo
planner: "sampling" planner: sampling
properties: properties:
group: "hand_1" group: hand_1
set: set:
goal: "open" goal: open
- type: "ModifyPlanningScene" - type: ModifyPlanningScene
set: set:
detach_object: detach_object:
object: "bottle" object: bottle
link: "panda_1_link8" link: panda_1_link8
allow_collisions: allow_collisions:
first: "bottle" first: bottle
second: second:
joint_model_group_name: "hand_1" joint_model_group_name: hand_1
allow: false allow: false
- type: "MoveRelative" - type: MoveRelative
planner: "cartesian" planner: cartesian
properties: properties:
link: "panda_1_link8" link: panda_1_link8
min_distance: 0.07 min_distance: 0.07
max_distance: 0.2 max_distance: 0.2
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: ["group"] values: [group]
set: set:
direction: direction:
vector: {x: 0.0, y: 0.0, z: -1.0, header: {frame_id: panda_1_link8}} vector: {x: 0.0, y: 0.0, z: -1.0, header: {frame_id: panda_1_link8}}
- type: "MoveTo" - type: MoveTo
planner: "sampling" planner: sampling
properties: properties:
group: "hand_1" group: hand_1
set: set:
goal: "close" goal: close
- name: "move to ready" - name: move to ready
type: "MoveTo" type: MoveTo
planner: "sampling" planner: sampling
propertiesConfigureInitFrom: propertiesConfigureInitFrom:
source: "PARENT" source: PARENT
values: values:
- "group" - group
set: set:
goal: "ready" goal: ready
max_planning_solutions: 10 max_planning_solutions: 10
\ No newline at end of file
src/mtc/results/-1004344220.yaml 0 → 100644
+ 25
− 0
View file @ f498381f
{ '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': 0.12,'width': 0.12,'height': 0.12 },'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 } },
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{ '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': -0.000006, 'y': 1.699998, 'z': 0.885000 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'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': 0.880000 } , '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': 0.880000 } , '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_left_panel', 'pos': { 'x': -0.000004, 'y': 1.047498 , 'z': 0.880000 },'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': -0.220006, 'y': 1.699997, '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
src/mtc/results/-1005378619.yaml 0 → 100644
+ 26
− 0
View file @ f498381f
{ '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': 0.12,'width': 0.12,'height': 0.12 },'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': 0.12,'width': 0.12,'height': 0.12 },'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': 0.880000 } , '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': 0.880000 } , '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': 0.880000 },'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_front_panel', 'pos': { 'x': 0.652495, 'y': 1.405000 , 'z': 0.880000 },'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': '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 } }
]}
\ No newline at end of file
src/mtc/results/-1023873889.yaml 0 → 100644
+ 25
− 0
View file @ f498381f
{ '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': 0.12,'width': 0.12,'height': 0.12 },'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': 0.12,'width': 0.12,'height': 0.12 },'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': 0.880000 } , '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': 0.880000 } , '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': 0.880000 },'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 } }
]}
\ No newline at end of file
src/mtc/results/-1046057965.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -2.041459083557129e-06
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.04361940470594575
q_w: 0.9990482208247503
rpy: 0.000000 -0.000000 0.087266
wings: 7
Robot_arm2:
pos_x: -0.1137403263029958
pos_y: 1.300031983349814
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.7372773633019241
q_w: 0.6755901787049325
rpy: 0.000000 -0.000000 1.658063
wings: 7
\ No newline at end of file
src/mtc/results/-1055738997.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -2.041459083557129e-06
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.04361940470594575
q_w: 0.9990482208247503
rpy: 0.000000 -0.000000 0.087266
wings: 7
Robot_arm2:
pos_x: -0.1137403263029958
pos_y: 1.300031983349814
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.7372773633019241
q_w: 0.6755901787049325
rpy: 0.000000 -0.000000 1.658063
wings: 6
\ No newline at end of file
src/mtc/results/-1080103651.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -2.041459083557129e-06
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.04361940470594575
q_w: 0.9990482208247503
rpy: 0.000000 -0.000000 0.087266
wings: 7
Robot_arm2:
pos_x: -0.1137403263029958
pos_y: 1.300031983349814
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 0.04361949204551854
q_w: 0.9990482170114167
rpy: 0.000000 -0.000000 0.087267
wings: 3
\ No newline at end of file
src/mtc/results/-1189622466.yaml 0 → 100644
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− 0
View file @ f498381f
{ '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 }},
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{ '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': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.087269 } },
{ '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 }},
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{ '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 }},
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{ 'id' : 'table2_table_top', 'pos': { 'x': -0.113744, 'y': 1.300032, 'z': 0.885000 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.737278 , 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000, 'p': -0.000000, 'y': 1.658065}},
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.056873 , 'y': 0.650015 , 'z': 0.880000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': 0.056869 , 'y': -0.650019 , 'z': 0.880000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_right_panel', 'pos': { 'x': -0.763760, 'y': 1.243161 , 'z': 0.880000 },'size': { 'length': 0.700000,'width': 0.500000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table2_front_panel', 'pos': { 'x': -0.170614, 'y': 1.950049 , 'z': 0.880000 },'size': { 'length': 0.500000,'width': 0.700000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table2_left_panel', 'pos': { 'x': 0.536273, 'y': 1.356902 , 'z': 0.880000 },'size': { 'length': 0.700000,'width': 0.500000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.219165, 'y': -0.019177, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.043621, 'w': 0.999048 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.094569, 'y': 1.080869, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
]}
\ No newline at end of file
src/mtc/results/-1189754863.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -0.1000020429491997
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.249713353108504e-06
q_w: 0.9999999999992193
rpy: 0.000000 -0.000000 0.000002
wings: 7
Robot_arm2:
pos_x: -6.040541873092198e-06
pos_y: 1.499997980887662
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.337136133234621e-06
q_w: 0.9999999999991062
rpy: 0.000000 -0.000000 0.000003
wings: 7
\ No newline at end of file
src/mtc/results/-1199338409.yaml 0 → 100644
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− 0
View file @ f498381f
{ '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 }},
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{ 'id' : 'table1_table_top', 'pos': { 'x': -0.000002 , 'y': -0.000002 , 'z': 0.885000 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000 , 'p': -0.000000 , 'y': 0.087269 } },
{ '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 }},
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{ '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': -0.113744, 'y': 1.300032, 'z': 0.885000 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.737278 , 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': 0.000000, 'p': -0.000000, 'y': 1.658065}},
{ 'id': 'table1_right_panel' , 'pos': { 'x': -0.056873 , 'y': 0.650015 , 'z': 0.880000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table1_left_panel' , 'pos': { 'x': 0.056869 , 'y': -0.650019 , 'z': 0.880000 } , 'size': { 'length': 0.700000 , 'width': 0.500000 , 'height': 0.010000 } , 'orientation': { 'x': 0.000000 , 'y': 0.000000 , 'z': 0.043621 , 'w': 0.999048 } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } },
{ 'id': 'table2_front_panel', 'pos': { 'x': -0.170614, 'y': 1.950049 , 'z': 0.880000 },'size': { 'length': 0.500000,'width': 0.700000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'table2_left_panel', 'pos': { 'x': 0.536273, 'y': 1.356902 , 'z': 0.880000 },'size': { 'length': 0.700000,'width': 0.500000,'height': 0.010000 },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 } },
{ 'id': 'arm1','type': 'ARM','pos': { 'x': -0.219165, 'y': -0.019177, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.043621, 'w': 0.999048 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } },
{ 'id': 'arm2','type': 'ARM','pos': { 'x': -0.094569, 'y': 1.080869, 'z': 0.89 },'size': { },'orientation': { 'x': 0.000000, 'y': 0.000000, 'z': 0.737278, 'w': 0.675589 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
]}
\ No newline at end of file
src/mtc/results/-1207470325.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -0.1000020429491997
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.249713353108504e-06
q_w: 0.9999999999992193
rpy: 0.000000 -0.000000 0.000002
wings: 7
Robot_arm2:
pos_x: -6.040541873092198e-06
pos_y: 1.499997980887662
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.337136133234621e-06
q_w: 0.9999999999991062
rpy: 0.000000 -0.000000 0.000003
wings: 5
\ No newline at end of file
src/mtc/results/-1216992529.yaml deleted 100644 → 0
+ 0
− 20
View file @ 7491de87
Robot_arm1:
pos_x: -2.041459083557129e-06
pos_y: -0.1000020429491997
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.249713353108504e-06
q_w: 0.9999999999992193
rpy: 0.000000 -0.000000 0.000002
wings: 7
Robot_arm2:
pos_x: -5.303210804067631e-06
pos_y: 1.204997904594638
pos_z: 0.4424999952316284
q_x: 0
q_y: 0
q_z: 1.337136133234621e-06
q_w: 0.9999999999991062
rpy: 0.000000 -0.000000 0.000003
wings: 3
\ No newline at end of file
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