diff --git a/scenarios/Armar6HighlevelApps/Armar6HighlevelApps.scx b/scenarios/Armar6HighlevelApps/Armar6HighlevelApps.scx
index e1cc553d3aeb7d424e25f97b6e248c4177c3421e..5aee3b118588b415f4de2cd7a605d831852ee161 100644
--- a/scenarios/Armar6HighlevelApps/Armar6HighlevelApps.scx
+++ b/scenarios/Armar6HighlevelApps/Armar6HighlevelApps.scx
@@ -1,30 +1,30 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="Armar6HighlevelApps" creation="2017-09-19.11:33:59 AM" globalConfigName="./config/global.cfg" package="armar6_skills" deploymentType="local" nodeName="NodeMain">
- <application name="WorkingMemory" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="ObjectMemoryObserver" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="LongtermMemory" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="CommonStorage" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="PriorKnowledge" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="RobotIK" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="ObjectLocalizationSaliencyApp" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="TrajectoryPlayerApp" instance="" package="RobotComponents" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="GraphNodePoseResolverApp" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="WorkingMemoryToArVizApp" instance="" package="MemoryX" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="WorkingMemoryObjectPoseProviderApp" instance="" package="MemoryX" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="SimpleStatechartExecutorApp" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="control_memory" instance="" package="armarx_control" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="navigator" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="view_memory" instance="" package="armarx_view_selection" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="gaze_scheduler" instance="" package="armarx_view_selection" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="SkillsMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="distance_to_obstacle_costmap_provider" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="IndexMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="ObjectInstanceToIndex" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="person_target_provider" instance="" package="armarx_view_selection" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="speech_memory" instance="" package="armarx_speech" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="symbolic_scene_memory" instance="" package="armarx_symbolic_planning" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="Armar6HighlevelApps" creation="2017-09-19.11:33:59 AM" globalConfigName="./config/global.cfg" package="armar6_skills" nodeName="NodeMain">
+ <application name="WorkingMemory" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="ObjectMemoryObserver" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="LongtermMemory" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="CommonStorage" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="PriorKnowledge" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="RobotIK" instance="" package="RobotComponents" nodeName="" enabled="true"/>
+ <application name="ObjectLocalizationSaliencyApp" instance="" package="RobotComponents" nodeName="" enabled="true"/>
+ <application name="TrajectoryPlayerApp" instance="" package="RobotComponents" nodeName="" enabled="false"/>
+ <application name="GraphNodePoseResolverApp" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="WorkingMemoryToArVizApp" instance="" package="MemoryX" nodeName="" enabled="false"/>
+ <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="WorkingMemoryObjectPoseProviderApp" instance="" package="MemoryX" nodeName="" enabled="false"/>
+ <application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true"/>
+ <application name="SimpleStatechartExecutorApp" instance="" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="control_memory" instance="" package="armarx_control" nodeName="" enabled="true"/>
+ <application name="navigator" instance="" package="armarx_navigation" nodeName="" enabled="true"/>
+ <application name="view_memory" instance="" package="armarx_view_selection" nodeName="" enabled="true"/>
+ <application name="gaze_scheduler" instance="" package="armarx_view_selection" nodeName="" enabled="true"/>
+ <application name="SkillsMemory" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="distance_to_obstacle_costmap_provider" instance="" package="armarx_navigation" nodeName="" enabled="true"/>
+ <application name="IndexMemory" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="ObjectInstanceToIndex" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="person_target_provider" instance="" package="armarx_view_selection" nodeName="" enabled="false"/>
+ <application name="speech_memory" instance="" package="armarx_speech" nodeName="" enabled="true"/>
+ <application name="symbolic_scene_memory" instance="" package="armarx_symbolic_planning" nodeName="" enabled="true"/>
</scenario>
diff --git a/scenarios/Armar6HighlevelApps/config/ObjectMemory.cfg b/scenarios/Armar6HighlevelApps/config/ObjectMemory.cfg
index 3bf9a8af3d2ac061cf0506e8a1d972c4b8873504..0eb1e7010336f7e08a76deb27f0e7fa22cb7a474 100644
--- a/scenarios/Armar6HighlevelApps/config/ObjectMemory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/ObjectMemory.cfg
@@ -266,6 +266,183 @@ ArmarX.ObjectMemory.mem.cls.Floor.Height = -2
# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.delaySeconds: Duration after latest localization before decay starts.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.delaySeconds = 5
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.durationSeconds: How long to reach minimal confidence.
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.durationSeconds = 20
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.enabled: If true, object poses decay over time when not localized anymore.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.maxConfidence: Confidence when decay starts.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.maxConfidence = 1
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.minConfidence: Confidence after decay duration.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.minConfidence = 0
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.removeObjectsBelowConfidence: Remove objects whose confidence is lower than this value.
+# Attributes:
+# - Default: 0.100000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.decay.removeObjectsBelowConfidence = 0.100000001
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.robots.FallbackName: Robot name to use as fallback if the robot name is not specified in a provided object pose.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.robots.FallbackName = ""
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.seg.CoreMaxHistorySize: Maximal size of the FamiliarObjectInstance entity histories (-1 for infinite).
+# Attributes:
+# - Default: 64
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.seg.CoreMaxHistorySize = 64
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.seg.CoreSegmentName: Name of the FamiliarObjectInstance core segment.
+# Attributes:
+# - Default: FamiliarObjectInstance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.seg.CoreSegmentName = FamiliarObjectInstance
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.alpha = 1
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.alphaByConfidence: If true, use the pose confidence as alpha (if < 1.0).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.alphaByConfidence = false
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.enabled: Enable or disable visualization of objects.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.enabled = true
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.frequenzyHz = 25
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.inGlobalFrame: If true, show global poses. If false, show poses in robot frame.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.inGlobalFrame = true
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.objectFrames: Enable showing object frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.objectFrames = false
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.objectFramesScale: Scaling of object frames.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.objectFramesScale = 1
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.oobbs: Enable showing oriented bounding boxes.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.oobbs = false
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.sizePixel: Pixel size of point cloud.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.sizePixel = 5
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizeBoundingBox:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizeBoundingBox = true
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizePointCloud:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizePointCloud = true
+
+
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizePose:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.fam_obj_inst.visu.visualizePose = true
+
+
# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
# If false, new snapshots are stored, but the attachment is kept in the new snapshots.
# Attributes:
@@ -413,6 +590,15 @@ ArmarX.ObjectMemory.mem.inst.robots.FallbackName = Armar6
ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = PriorKnowledgeData/scenes/50_19/R005/SecondHands.json
+# ArmarX.ObjectMemory.mem.inst.scene.13_autoReloadSceneSnapshotsOnFileChange:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.scene.13_autoReloadSceneSnapshotsOnFileChange = false
+
+
# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
# Attributes:
# - Default: 64
@@ -586,10 +772,10 @@ ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence = true
# ArmarX.ObjectMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.ObjectMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.ObjectMemory.mem.ltm.enabled:
@@ -606,7 +792,7 @@ ArmarX.ObjectMemory.mem.ltm.enabled = false
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-ArmarX.ObjectMemory.mem.ltm.exportName = RecordingsJoana
+ArmarX.ObjectMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.ObjectMemory.mem.ltm.exportPath:
@@ -614,7 +800,40 @@ ArmarX.ObjectMemory.mem.ltm.exportName = RecordingsJoana
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-ArmarX.ObjectMemory.mem.ltm.exportPath = "/media/ltm"
+ArmarX.ObjectMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.ObjectMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.ObjectMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.ObjectMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.ObjectMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ObjectMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.ObjectMemory.mem.ltm.storeFrequency:
@@ -625,6 +844,15 @@ ArmarX.ObjectMemory.mem.ltm.exportPath = "/media/ltm"
# ArmarX.ObjectMemory.mem.ltm.storeFrequency = 10
+# ArmarX.ObjectMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.ObjectMemory.mem.robot_state.Memory:
# Attributes:
# - Default: RobotState
diff --git a/scenarios/Armar6HighlevelApps/config/RobotStateMemory.cfg b/scenarios/Armar6HighlevelApps/config/RobotStateMemory.cfg
index 0130d73a8bba10f186294d813bbd6a4a3b34ba25..59c528d8fdebcf9ca1cff1875580887c2cd7aa2e 100644
--- a/scenarios/Armar6HighlevelApps/config/RobotStateMemory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/RobotStateMemory.cfg
@@ -211,10 +211,10 @@ ArmarX.RobotStateMemory.WaitForRobotUnit = true
# ArmarX.RobotStateMemory.mem.desc.seg.CoreMaxHistorySize: Maximal size of the Description entity histories (-1 for infinite).
# Attributes:
-# - Default: -1
+# - Default: 10
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateMemory.mem.desc.seg.CoreMaxHistorySize = -1
+# ArmarX.RobotStateMemory.mem.desc.seg.CoreMaxHistorySize = 10
# ArmarX.RobotStateMemory.mem.desc.seg.CoreSegmentName: Name of the Description core segment.
@@ -227,10 +227,10 @@ ArmarX.RobotStateMemory.WaitForRobotUnit = true
# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize: Maximal size of the Exteroception entity histories (-1 for infinite).
# Attributes:
-# - Default: -1
+# - Default: 10
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize = -1
+# ArmarX.RobotStateMemory.mem.ext.seg.CoreMaxHistorySize = 10
# ArmarX.RobotStateMemory.mem.ext.seg.CoreSegmentName: Name of the Exteroception core segment.
@@ -259,7 +259,7 @@ ArmarX.RobotStateMemory.WaitForRobotUnit = true
# ArmarX.RobotStateMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
ArmarX.RobotStateMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 100}, "PngConverter": {}}
@@ -279,7 +279,7 @@ ArmarX.RobotStateMemory.mem.ltm.enabled = false
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-ArmarX.RobotStateMemory.mem.ltm.exportName = "RecordingsJoana"
+ArmarX.RobotStateMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.RobotStateMemory.mem.ltm.exportPath:
@@ -287,7 +287,40 @@ ArmarX.RobotStateMemory.mem.ltm.exportName = "RecordingsJoana"
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-ArmarX.RobotStateMemory.mem.ltm.exportPath = "/media/ltm"
+ArmarX.RobotStateMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.RobotStateMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.RobotStateMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.RobotStateMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.RobotStateMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.RobotStateMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.RobotStateMemory.mem.ltm.storeFrequency:
@@ -298,6 +331,15 @@ ArmarX.RobotStateMemory.mem.ltm.exportPath = "/media/ltm"
# ArmarX.RobotStateMemory.mem.ltm.storeFrequency = 10
+# ArmarX.RobotStateMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.RobotStateMemory.mem.prop.seg.CoreMaxHistorySize: Maximal size of the Proprioception entity histories (-1 for infinite).
# Attributes:
# - Default: 1024
@@ -314,6 +356,15 @@ ArmarX.RobotStateMemory.mem.ltm.exportPath = "/media/ltm"
# ArmarX.RobotStateMemory.mem.prop.seg.CoreSegmentName = Proprioception
+# ArmarX.RobotStateMemory.mem.visu.collisionModelEnabled: Enable visualization of collision model.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.visu.collisionModelEnabled = false
+
+
# ArmarX.RobotStateMemory.mem.visu.enabled: Enable or disable visualization of objects.
# Attributes:
# - Default: true
diff --git a/scenarios/Armar6HighlevelApps/config/SkillsMemory.cfg b/scenarios/Armar6HighlevelApps/config/SkillsMemory.cfg
index f5652af6d087e05edd9d72536e1eaa5b0797977f..d9a3bfbb3705e715992061407d323dfbb212903b 100644
--- a/scenarios/Armar6HighlevelApps/config/SkillsMemory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/SkillsMemory.cfg
@@ -176,12 +176,60 @@
# ArmarX.SkillMemory.mem.MemoryName = Skill
+# ArmarX.SkillMemory.mem.event.seg.CoreMaxHistorySize: Maximal size of the SkillEvent entity histories (-1 for infinite).
+# Attributes:
+# - Default: 300
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.event.seg.CoreMaxHistorySize = 300
+
+
+# ArmarX.SkillMemory.mem.event.seg.CoreSegmentName: Name of the SkillEvent core segment.
+# Attributes:
+# - Default: SkillEvent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.event.seg.CoreSegmentName = SkillEvent
+
+
+# ArmarX.SkillMemory.mem.executableskill.seg.CoreMaxHistorySize: Maximal size of the ExecutableSkill entity histories (-1 for infinite).
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.executableskill.seg.CoreMaxHistorySize = 10
+
+
+# ArmarX.SkillMemory.mem.executableskill.seg.CoreSegmentName: Name of the ExecutableSkill core segment.
+# Attributes:
+# - Default: ExecutableSkill
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.executableskill.seg.CoreSegmentName = ExecutableSkill
+
+
+# ArmarX.SkillMemory.mem.executionrequest.seg.CoreMaxHistorySize: Maximal size of the SkillExecutionRequest entity histories (-1 for infinite).
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.executionrequest.seg.CoreMaxHistorySize = 50
+
+
+# ArmarX.SkillMemory.mem.executionrequest.seg.CoreSegmentName: Name of the SkillExecutionRequest core segment.
+# Attributes:
+# - Default: SkillExecutionRequest
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.executionrequest.seg.CoreSegmentName = SkillExecutionRequest
+
+
# ArmarX.SkillMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.SkillMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.SkillMemory.mem.ltm.enabled:
@@ -198,7 +246,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillMemory.mem.ltm.exportName = MemoryExport
+ArmarX.SkillMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.SkillMemory.mem.ltm.exportPath:
@@ -206,7 +254,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillMemory.mem.ltm.exportPath = ""
+ArmarX.SkillMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.SkillMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.SkillMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.SkillMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.SkillMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SkillMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.SkillMemory.mem.ltm.storeFrequency:
@@ -217,6 +298,47 @@
# ArmarX.SkillMemory.mem.ltm.storeFrequency = 10
+# ArmarX.SkillMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mem.ltm.storeOnStop = false
+
+
+# ArmarX.SkillMemory.mem.statechartlistener.seg.CoreMaxHistorySize: Maximal size of the Transitions entity histories (-1 for infinite).
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.statechartlistener.seg.CoreMaxHistorySize = 10
+
+
+# ArmarX.SkillMemory.mem.statechartlistener.seg.CoreSegmentName: Name of the Transitions core segment.
+# Attributes:
+# - Default: Transitions
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.statechartlistener.seg.CoreSegmentName = Transitions
+
+
+# ArmarX.SkillMemory.mem.statechartlistener.seg.ProviderMaxHistorySize: Maximal size of the StatechartListener entity histories (-1 for infinite).
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.statechartlistener.seg.ProviderMaxHistorySize = 10
+
+
+# ArmarX.SkillMemory.mem.statechartlistener.seg.ProviderSegmentName: Name of the StatechartListener provider segment.
+# Attributes:
+# - Default: StatechartListener
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.statechartlistener.seg.ProviderSegmentName = StatechartListener
+
+
# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6HighlevelApps/config/control_memory.cfg b/scenarios/Armar6HighlevelApps/config/control_memory.cfg
index 84606c5a48dfa107c3419b847c67e1facce2146d..9ad4b543557e4603a243689a972fa079f07b7314 100644
--- a/scenarios/Armar6HighlevelApps/config/control_memory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/control_memory.cfg
@@ -103,10 +103,10 @@
# ArmarX.ControlMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ControlMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.ControlMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.ControlMemory.mem.ltm.enabled:
@@ -123,7 +123,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ControlMemory.mem.ltm.exportName = MemoryExport
+ArmarX.ControlMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.ControlMemory.mem.ltm.exportPath:
@@ -131,7 +131,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ControlMemory.mem.ltm.exportPath = ""
+ArmarX.ControlMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.ControlMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.ControlMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.ControlMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ControlMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.ControlMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ControlMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.ControlMemory.mem.ltm.storeFrequency:
@@ -142,6 +175,15 @@
# ArmarX.ControlMemory.mem.ltm.storeFrequency = 10
+# ArmarX.ControlMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.ControlMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6HighlevelApps/config/distance_to_obstacle_costmap_provider.cfg b/scenarios/Armar6HighlevelApps/config/distance_to_obstacle_costmap_provider.cfg
index cbdd3ce58700b5fe090a289be3592636ea56dd25..8e714efcbd61e951c2d16f943d872bb13969ef84 100644
--- a/scenarios/Armar6HighlevelApps/config/distance_to_obstacle_costmap_provider.cfg
+++ b/scenarios/Armar6HighlevelApps/config/distance_to_obstacle_costmap_provider.cfg
@@ -261,6 +261,39 @@ ArmarX.SecondsStartupDelay = 5
# ArmarX.distance_to_obstacle_costmap_provider.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.distance_to_obstacle_costmap_provider.p.colModel:
+# Attributes:
+# - Default: Platform-navigation-colmodel
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.distance_to_obstacle_costmap_provider.p.colModel = Platform-navigation-colmodel
+
+
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.binaryGrid:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.binaryGrid = false
+
+
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.cellSize:
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.cellSize = 100
+
+
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.sceneBoundsMargin:
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.distance_to_obstacle_costmap_provider.p.costmapBuilderParams.sceneBoundsMargin = 1000
+
+
# ArmarX.distance_to_obstacle_costmap_provider.p.robotName: Robot name.
# Attributes:
# - Case sensitivity: yes
diff --git a/scenarios/Armar6HighlevelApps/config/gaze_scheduler.cfg b/scenarios/Armar6HighlevelApps/config/gaze_scheduler.cfg
index 7f6f4d0e4700be2405813e268c4eacc7c0a3473a..603664d45773ec2b31fecb6cbe761c99b8181a58 100644
--- a/scenarios/Armar6HighlevelApps/config/gaze_scheduler.cfg
+++ b/scenarios/Armar6HighlevelApps/config/gaze_scheduler.cfg
@@ -301,6 +301,6 @@ ArmarX.GazeScheduler.properties.visuEnabled = false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-ArmarX.Verbosity = Verbose
+# ArmarX.Verbosity = Info
diff --git a/scenarios/Armar6HighlevelApps/config/navigation_memory.cfg b/scenarios/Armar6HighlevelApps/config/navigation_memory.cfg
index b59cbc1ed33500a1929d151b4dfbc2fbaea4dd06..d60a1b190ddc7edb372c5971ed03237b4be2ffa9 100644
--- a/scenarios/Armar6HighlevelApps/config/navigation_memory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/navigation_memory.cfg
@@ -237,10 +237,10 @@
# ArmarX.navigation_memory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.navigation_memory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.navigation_memory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.navigation_memory.mem.ltm.enabled:
@@ -257,7 +257,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.navigation_memory.mem.ltm.exportName = MemoryExport
+ArmarX.navigation_memory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.navigation_memory.mem.ltm.exportPath:
@@ -265,7 +265,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.navigation_memory.mem.ltm.exportPath = ""
+ArmarX.navigation_memory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.navigation_memory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.navigation_memory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.navigation_memory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.navigation_memory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.navigation_memory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.navigation_memory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.navigation_memory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.navigation_memory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.navigation_memory.mem.ltm.storeFrequency:
@@ -276,6 +309,15 @@
# ArmarX.navigation_memory.mem.ltm.storeFrequency = 10
+# ArmarX.navigation_memory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.navigation_memory.mem.ltm.storeOnStop = false
+
+
# ArmarX.navigation_memory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6HighlevelApps/config/navigator.cfg b/scenarios/Armar6HighlevelApps/config/navigator.cfg
index 651edda2b433aff19c4be53d3bebe2ee5f894e07..d12f0aa653c95820857c5360395b8efb953a3c30 100644
--- a/scenarios/Armar6HighlevelApps/config/navigator.cfg
+++ b/scenarios/Armar6HighlevelApps/config/navigator.cfg
@@ -147,7 +147,7 @@ ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SecondsStartupDelay = 0
+ArmarX.SecondsStartupDelay = 10
# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
diff --git a/scenarios/Armar6HighlevelApps/config/speech_memory.cfg b/scenarios/Armar6HighlevelApps/config/speech_memory.cfg
index 91c23b44a6b5f7d6ff66632f4532d4b5e1bf23ee..723724a8ed60826063bce473742f42feb0d0386d 100644
--- a/scenarios/Armar6HighlevelApps/config/speech_memory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/speech_memory.cfg
@@ -213,10 +213,10 @@
# ArmarX.speech_memory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.speech_memory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.speech_memory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.speech_memory.mem.ltm.enabled:
@@ -233,7 +233,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.speech_memory.mem.ltm.exportName = MemoryExport
+ArmarX.speech_memory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.speech_memory.mem.ltm.exportPath:
@@ -241,7 +241,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.speech_memory.mem.ltm.exportPath = ""
+ArmarX.speech_memory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.speech_memory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.speech_memory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.speech_memory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.speech_memory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.speech_memory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.speech_memory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.speech_memory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.speech_memory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.speech_memory.mem.ltm.storeFrequency:
@@ -252,6 +285,15 @@
# ArmarX.speech_memory.mem.ltm.storeFrequency = 10
+# ArmarX.speech_memory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.speech_memory.mem.ltm.storeOnStop = false
+
+
# ArmarX.speech_memory.memory.cmd.EntityName: Name of the command entities.
# Attributes:
# - Default: command
diff --git a/scenarios/Armar6HighlevelApps/config/symbolic_scene_memory.cfg b/scenarios/Armar6HighlevelApps/config/symbolic_scene_memory.cfg
index ddf38e96fc4f3236c9817f3db42282359e838b70..e68b37f1ca2cba446d6f7338aeba1b6d774799d0 100644
--- a/scenarios/Armar6HighlevelApps/config/symbolic_scene_memory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/symbolic_scene_memory.cfg
@@ -223,10 +223,10 @@
# ArmarX.SymbolicSceneMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SymbolicSceneMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.SymbolicSceneMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.SymbolicSceneMemory.mem.ltm.enabled:
@@ -243,7 +243,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SymbolicSceneMemory.mem.ltm.exportName = MemoryExport
+ArmarX.SymbolicSceneMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.SymbolicSceneMemory.mem.ltm.exportPath:
@@ -251,7 +251,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SymbolicSceneMemory.mem.ltm.exportPath = ""
+ArmarX.SymbolicSceneMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.SymbolicSceneMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SymbolicSceneMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.SymbolicSceneMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SymbolicSceneMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.SymbolicSceneMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SymbolicSceneMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.SymbolicSceneMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.SymbolicSceneMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.SymbolicSceneMemory.mem.ltm.storeFrequency:
@@ -262,6 +295,15 @@
# ArmarX.SymbolicSceneMemory.mem.ltm.storeFrequency = 10
+# ArmarX.SymbolicSceneMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SymbolicSceneMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.SymbolicSceneMemory.mem.nav.graph.CoreSegment:
# Attributes:
# - Default: Location
diff --git a/scenarios/Armar6HighlevelApps/config/view_memory.cfg b/scenarios/Armar6HighlevelApps/config/view_memory.cfg
index 2e0949b672c72bfa9ef676c6b4e8176e03363b89..436a64ce0f554c5041bad6a7c5dd9ca13edbaf47 100644
--- a/scenarios/Armar6HighlevelApps/config/view_memory.cfg
+++ b/scenarios/Armar6HighlevelApps/config/view_memory.cfg
@@ -205,10 +205,10 @@
# ArmarX.ViewMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ViewMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.ViewMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.ViewMemory.mem.ltm.enabled:
@@ -225,7 +225,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ViewMemory.mem.ltm.exportName = MemoryExport
+ArmarX.ViewMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.ViewMemory.mem.ltm.exportPath:
@@ -233,7 +233,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ViewMemory.mem.ltm.exportPath = ""
+ArmarX.ViewMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.ViewMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ViewMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.ViewMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.ViewMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ViewMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.ViewMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ViewMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.ViewMemory.mem.ltm.storeFrequency:
@@ -244,6 +277,15 @@
# ArmarX.ViewMemory.mem.ltm.storeFrequency = 10
+# ArmarX.ViewMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ViewMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.ViewMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6ManipulationPipeline/Armar6ManipulationPipeline.scx b/scenarios/Armar6ManipulationPipeline/Armar6ManipulationPipeline.scx
index dc7695a7907456c01d14188bcec49f61a67d3567..10356df672e18d7b6a66aa32b174065bbabeec03 100644
--- a/scenarios/Armar6ManipulationPipeline/Armar6ManipulationPipeline.scx
+++ b/scenarios/Armar6ManipulationPipeline/Armar6ManipulationPipeline.scx
@@ -1,10 +1,11 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="Armar6ManipulationPipeline" creation="2023-10-06.16:01:17" globalConfigName="./config/global.cfg" package="armar6_skills" deploymentType="local" nodeName="NodeMain">
- <application name="contractor" instance="" package="armarx_mobile_manipulation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="action_executor" instance="" package="armarx_mobile_manipulation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="manipulation_memory" instance="" package="armarx_manipulation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="placement_around_box" instance="" package="armarx_robot_placement" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="nlp_wb_target_generator" instance="" package="armarx_robot_placement" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="symbolic_scene_memory" instance="" package="armarx_symbolic_planning" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="Armar6ManipulationPipeline" creation="2023-10-06.16:01:17" globalConfigName="./config/global.cfg" package="armar6_skills" nodeName="NodeMain">
+ <application name="contractor" instance="" package="armarx_mobile_manipulation" nodeName="" enabled="true"/>
+ <application name="action_executor" instance="" package="armarx_mobile_manipulation" nodeName="" enabled="true"/>
+ <application name="manipulation_memory" instance="" package="armarx_manipulation" nodeName="" enabled="true"/>
+ <application name="placement_around_box" instance="" package="armarx_robot_placement" nodeName="" enabled="true"/>
+ <application name="nlp_wb_target_generator" instance="" package="armarx_robot_placement" nodeName="" enabled="true"/>
+ <application name="symbolic_scene_memory" instance="" package="armarx_symbolic_planning" nodeName="" enabled="true"/>
+ <application name="optik_wb_target_generator" instance="" package="armarx_robot_placement" nodeName="" enabled="true"/>
</scenario>
diff --git a/scenarios/Armar6ManipulationPipeline/config/action_executor.cfg b/scenarios/Armar6ManipulationPipeline/config/action_executor.cfg
index aad9523e7937ebc9fba74f0eef85d96c25af2408..95af70e4752e3b68d1e496277de3f809370eb0d8 100644
--- a/scenarios/Armar6ManipulationPipeline/config/action_executor.cfg
+++ b/scenarios/Armar6ManipulationPipeline/config/action_executor.cfg
@@ -166,7 +166,7 @@
# - Case sensitivity: yes
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Info
+ArmarX.Verbosity = Debug
# ArmarX.action_execution.ArVizStorageName: Name of the ArViz storage
@@ -233,6 +233,14 @@
# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_left_ns = jointTraj_robdekon_above_box_left_6.csv
+# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_left_top:
+# Attributes:
+# - Default: reach_to_grasp_3_top-2024-05-29-17-51-39-ts-forward_left.csv
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_left_top = reach_to_grasp_3_top-2024-05-29-17-51-39-ts-forward_left.csv
+
+
# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_right:
# Attributes:
# - Default: taskTraj_robdekon_above_box_right_from_left_6.csv
@@ -249,6 +257,14 @@
# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_right_ns = jointTraj_robdekon_above_box_right_from_left_6.csv
+# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_right_top:
+# Attributes:
+# - Default: reach_to_grasp_3_top-2024-05-29-17-51-39-ts-forward_right.csv
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.Config.DMP.Trajectories.default_to_prepose_right_top = reach_to_grasp_3_top-2024-05-29-17-51-39-ts-forward_right.csv
+
+
# ArmarX.action_execution.Config.DMP.Trajectories.dmp_directory.package:
# Attributes:
# - Default: armar6_motions
@@ -337,6 +353,22 @@
# ArmarX.action_execution.Config.General.left_hand_tcp_name = Hand L TCP
+# ArmarX.action_execution.Config.General.move_to_pre_pose_duration_in_s:
+# Attributes:
+# - Default: 6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.Config.General.move_to_pre_pose_duration_in_s = 6
+
+
+# ArmarX.action_execution.Config.General.obstacle_height_in_mm:
+# Attributes:
+# - Default: 800
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.Config.General.obstacle_height_in_mm = 800
+
+
# ArmarX.action_execution.Config.General.right_hand_tcp_name:
# Attributes:
# - Default: Hand R TCP
@@ -401,100 +433,20 @@
# ArmarX.action_execution.Config.General.trajectory_under_box_to_above_rh_filename = under_box_to_above_rh.json
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeClose:
-# Attributes:
-# - Default: Hook
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeClose = Hook
-
-
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeGrasp:
-# Attributes:
-# - Default: Open
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeGrasp = Open
-
-
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeOpen:
-# Attributes:
-# - Default: Hook
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapeOpen = Hook
-
-
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePlace:
-# Attributes:
-# - Default: Close
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePlace = Close
-
-
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePull:
-# Attributes:
-# - Default: Hook
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePull = Hook
-
-
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePush:
-# Attributes:
-# - Default: Close
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_pre_pose.finalShapePush = Close
-
-
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeClose:
-# Attributes:
-# - Default: Close
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeClose = Close
-
-
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeGrasp:
-# Attributes:
-# - Default: Close
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeGrasp = Close
-
-
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeOpen:
-# Attributes:
-# - Default: Open
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapeOpen = Open
-
-
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePlace:
-# Attributes:
-# - Default: Open
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePlace = Open
-
-
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePull:
+# ArmarX.action_execution.Config.move_to_pre_pose.finalShapes:
# Attributes:
-# - Default: Open
+# - Default: Close:Hook,Grasp:Open,Open:Hook,Place:Close,Pour:Close,Pull:Hook,Push:Close
# - Case sensitivity: yes
# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePull = Open
+# ArmarX.action_execution.Config.move_to_pre_pose.finalShapes = Close:Hook,Grasp:Open,Open:Hook,Place:Close,Pour:Close,Pull:Hook,Push:Close
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePush:
+# ArmarX.action_execution.Config.move_to_retract_pose.finalShapes:
# Attributes:
-# - Default: Close
+# - Default: Close:Open,Grasp:Close,Open:Open,Place:Open,Pour:Close,Pull:Open,Push:Open
# - Case sensitivity: yes
# - Required: no
-# ArmarX.action_execution.Config.move_to_retract_pose.finalShapePush = Close
+# ArmarX.action_execution.Config.move_to_retract_pose.finalShapes = Close:Open,Grasp:Close,Open:Open,Place:Open,Pour:Close,Pull:Open,Push:Open
# ArmarX.action_execution.Config.robotName:
@@ -502,7 +454,7 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.action_execution.Config.robotName = ""
+ArmarX.action_execution.Config.robotName = "Armar6"
# ArmarX.action_execution.DRT.ControllerType: Type of the controller
@@ -511,7 +463,7 @@
# - Case sensitivity: yes
# - Required: no
# - Possible values: {NJointCartesianNaturalPositionController, NJointCartesianWaypointController, NJointTaskSpaceDMPController, NJointTaskSpaceImpedanceController, NJointTaskSpaceImpedanceDMPController}
-ArmarX.action_execution.DRT.ControllerType = NJointCartesianWaypointController
+ArmarX.action_execution.DRT.ControllerType = NJointTaskSpaceImpedanceDMPController
# ArmarX.action_execution.DRT.EnableLeftSide: Enable/disable control of left arm.
@@ -614,7 +566,7 @@ ArmarX.action_execution.DRT.ControllerType = NJointCartesianWaypointController
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-ArmarX.action_execution.Global.attach_detach_object_to_eef = true
+# ArmarX.action_execution.Global.attach_detach_object_to_eef = false
# ArmarX.action_execution.Global.cartesian_wp_config.threshold_orientation_near:
@@ -763,100 +715,12 @@ ArmarX.action_execution.Global.attach_detach_object_to_eef = true
ArmarX.action_execution.RobotUnitName = Armar6Unit
-# ArmarX.action_execution.Visualization.head_path:
-# Attributes:
-# - Default: armar6_models/robotmodel/armar6/simox/Armar6-Head.xml
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.head_path = armar6_models/robotmodel/armar6/simox/Armar6-Head.xml
-
-
-# ArmarX.action_execution.Visualization.head_root_node_name:
-# Attributes:
-# - Default: Head Base
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.head_root_node_name = Head Base
-
-
-# ArmarX.action_execution.Visualization.left_hand_closed_joints:
-# Attributes:
-# - Default: Index L 1 Joint:90,Index L 2 Joint:90,Index L 3 Joint:90,Middle L 1 Joint:90,Middle L 2 Joint:90,Middle L 3 Joint:90,Pinky L 1 Joint:90,Pinky L 2 Joint:90,Pinky L 3 Joint:90,Ring L 1 Joint:90,Ring L 2 Joint:90,Ring L 3 Joint:90,Thumb L 1 Joint:90,Thumb L 2 Joint:90
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.left_hand_closed_joints = Index L 1 Joint:90,Index L 2 Joint:90,Index L 3 Joint:90,Middle L 1 Joint:90,Middle L 2 Joint:90,Middle L 3 Joint:90,Pinky L 1 Joint:90,Pinky L 2 Joint:90,Pinky L 3 Joint:90,Ring L 1 Joint:90,Ring L 2 Joint:90,Ring L 3 Joint:90,Thumb L 1 Joint:90,Thumb L 2 Joint:90
-
-
-# ArmarX.action_execution.Visualization.left_hand_opened_joints:
-# Attributes:
-# - Default: Index L 1 Joint:0,Index L 2 Joint:0,Index L 3 Joint:0,Middle L 1 Joint:0,Middle L 2 Joint:0,Middle L 3 Joint:0,Pinky L 1 Joint:0,Pinky L 2 Joint:0,Pinky L 3 Joint:0,Ring L 1 Joint:0,Ring L 2 Joint:0,Ring L 3 Joint:0,Thumb L 1 Joint:0,Thumb L 2 Joint:0
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.left_hand_opened_joints = Index L 1 Joint:0,Index L 2 Joint:0,Index L 3 Joint:0,Middle L 1 Joint:0,Middle L 2 Joint:0,Middle L 3 Joint:0,Pinky L 1 Joint:0,Pinky L 2 Joint:0,Pinky L 3 Joint:0,Ring L 1 Joint:0,Ring L 2 Joint:0,Ring L 3 Joint:0,Thumb L 1 Joint:0,Thumb L 2 Joint:0
-
-
-# ArmarX.action_execution.Visualization.left_hand_path:
-# Attributes:
-# - Default: armar6_models/robotmodel/armar6/simox/Armar6-LeftHand-v3.xml
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.left_hand_path = armar6_models/robotmodel/armar6/simox/Armar6-LeftHand-v3.xml
-
-
-# ArmarX.action_execution.Visualization.left_hand_root_node_name:
-# Attributes:
-# - Default: Hand L Root
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.left_hand_root_node_name = Hand L Root
-
-
-# ArmarX.action_execution.Visualization.right_hand_closed_joints:
-# Attributes:
-# - Default: Index R 1 Joint:90,Index R 2 Joint:90,Index R 3 Joint:90,Middle R 1 Joint:90,Middle R 2 Joint:90,Middle R 3 Joint:90,Pinky R 1 Joint:90,Pinky R 2 Joint:90,Pinky R 3 Joint:90,Ring R 1 Joint:90,Ring R 2 Joint:90,Ring R 3 Joint:90,Thumb R 1 Joint:90,Thumb R 2 Joint:90
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.right_hand_closed_joints = Index R 1 Joint:90,Index R 2 Joint:90,Index R 3 Joint:90,Middle R 1 Joint:90,Middle R 2 Joint:90,Middle R 3 Joint:90,Pinky R 1 Joint:90,Pinky R 2 Joint:90,Pinky R 3 Joint:90,Ring R 1 Joint:90,Ring R 2 Joint:90,Ring R 3 Joint:90,Thumb R 1 Joint:90,Thumb R 2 Joint:90
-
-
-# ArmarX.action_execution.Visualization.right_hand_opened_joints:
-# Attributes:
-# - Default: Index R 1 Joint:0,Index R 2 Joint:0,Index R 3 Joint:0,Middle R 1 Joint:0,Middle R 2 Joint:0,Middle R 3 Joint:0,Pinky R 1 Joint:0,Pinky R 2 Joint:0,Pinky R 3 Joint:0,Ring R 1 Joint:0,Ring R 2 Joint:0,Ring R 3 Joint:0,Thumb R 1 Joint:0,Thumb R 2 Joint:0
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.right_hand_opened_joints = Index R 1 Joint:0,Index R 2 Joint:0,Index R 3 Joint:0,Middle R 1 Joint:0,Middle R 2 Joint:0,Middle R 3 Joint:0,Pinky R 1 Joint:0,Pinky R 2 Joint:0,Pinky R 3 Joint:0,Ring R 1 Joint:0,Ring R 2 Joint:0,Ring R 3 Joint:0,Thumb R 1 Joint:0,Thumb R 2 Joint:0
-
-
-# ArmarX.action_execution.Visualization.right_hand_path:
-# Attributes:
-# - Default: armar6_models/robotmodel/armar6/simox/Armar6-RightHand-v3.xml
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.right_hand_path = armar6_models/robotmodel/armar6/simox/Armar6-RightHand-v3.xml
-
-
-# ArmarX.action_execution.Visualization.right_hand_root_node_name:
-# Attributes:
-# - Default: Hand R Root
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.right_hand_root_node_name = Hand R Root
-
-
-# ArmarX.action_execution.Visualization.robot_path:
+# ArmarX.action_execution.Visualization.robotName:
# Attributes:
-# - Default: armar6_models/robotmodel/armar6/simox/Armar6-SH.xml
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.action_execution.Visualization.robot_path = armar6_models/robotmodel/armar6/simox/Armar6-SH.xml
-
-
-# ArmarX.action_execution.Visualization.robot_project_dir:
-# Attributes:
-# - Default: armar6_models
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.action_execution.Visualization.robot_project_dir = armar6_models
+ArmarX.action_execution.Visualization.robotName = "Armar6"
# ArmarX.action_execution.Visualization.use_collision_model_for_hands:
@@ -901,6 +765,22 @@ ArmarX.action_execution.RobotUnitName = Armar6Unit
# ArmarX.action_execution.mem.manip.executed_action.Provider = ""
+# ArmarX.action_execution.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.action_execution.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.action_execution.mem.robot_state.localizationSegment = Localization
+
+
# ArmarX.action_execution.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6ManipulationPipeline/config/contractor.cfg b/scenarios/Armar6ManipulationPipeline/config/contractor.cfg
index f703adca2f03aa8ef6da189355c367fe4d8b56a3..c0683aa230476d4e99fc61be536fc4b80f40a066 100644
--- a/scenarios/Armar6ManipulationPipeline/config/contractor.cfg
+++ b/scenarios/Armar6ManipulationPipeline/config/contractor.cfg
@@ -431,6 +431,38 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.action_at_pose.enable = true
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetRotation:
+# Attributes:
+# - Default: 0, 0, 0, 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetRotation = 0, 0, 0, 1
+
+
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationDistal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationDistal = 0
+
+
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationDorsal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationDorsal = 0
+
+
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationThumb:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.action_at_pose.hypothesisBuilder.candidateOffsetTranslationThumb = 0
+
+
# ArmarX.contractor.config.discovery.external.enable:
# Attributes:
# - Default: false
@@ -457,6 +489,38 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.grasp_candidate_provider.enable = true
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetRotation:
+# Attributes:
+# - Default: 0, 0, 0, 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetRotation = 0, 0, 0, 1
+
+
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationDistal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationDistal = 0
+
+
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationDorsal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationDorsal = 0
+
+
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationThumb:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_candidate_provider.hypothesisBuilder.candidateOffsetTranslationThumb = 0
+
+
# ArmarX.contractor.config.discovery.grasp_id.enable:
# Attributes:
# - Default: true
@@ -466,6 +530,38 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.grasp_id.enable = true
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetRotation:
+# Attributes:
+# - Default: 0, 0, 0, 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetRotation = 0, 0, 0, 1
+
+
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationDistal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationDistal = 0
+
+
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationDorsal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationDorsal = 0
+
+
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationThumb:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.grasp_id.hypothesisBuilder.candidateOffsetTranslationThumb = 0
+
+
# ArmarX.contractor.config.discovery.known_object_oobb.enable:
# Attributes:
# - Default: true
@@ -483,12 +579,20 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetRotation = 0, 0, 0, 1
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistal:
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalLeft:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalLeft = 0
+
+
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalRight:
# Attributes:
# - Default: -30
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistal = -30
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalRight = -30
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDorsal:
@@ -499,12 +603,20 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDorsal = 0
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumb:
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbLeft:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbLeft = 0
+
+
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbRight:
# Attributes:
# - Default: -30
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumb = -30
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbRight = -30
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateShiftTowardsCenterInMM:
@@ -515,13 +627,13 @@ ArmarX.Verbosity = Debug
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.candidateShiftTowardsCenterInMM = 30
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHeighObjects:
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHighObjects:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHeighObjects = true
+# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHighObjects = true
# ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.heightMaxInMM:
@@ -597,6 +709,15 @@ ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.sho
# ArmarX.contractor.config.discovery.known_object_oobb.visualizeBoundingBoxes = true
+# ArmarX.contractor.config.discovery.known_object_predefined_affordances.enable:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.contractor.config.discovery.known_object_predefined_affordances.enable = false
+
+
# ArmarX.contractor.config.discovery.known_object_predefined_grasps.enable:
# Attributes:
# - Default: true
@@ -656,6 +777,38 @@ ArmarX.contractor.config.discovery.known_object_oobb.oobb_hypothesis_builder.sho
# ArmarX.contractor.config.discovery.object_id.enable = true
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetRotation:
+# Attributes:
+# - Default: 0, 0, 0, 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetRotation = 0, 0, 0, 1
+
+
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationDistal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationDistal = 0
+
+
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationDorsal:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationDorsal = 0
+
+
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationThumb:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.object_id.hypothesisBuilder.candidateOffsetTranslationThumb = 0
+
+
# ArmarX.contractor.config.discovery.pre_defined.enable:
# Attributes:
# - Default: true
@@ -781,12 +934,20 @@ ArmarX.contractor.config.discovery.unknown_object_oobb.objectCentricPointCloudFi
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetRotation = 0, 0, 0, 1
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistal:
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalLeft:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalLeft = 0
+
+
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalRight:
# Attributes:
# - Default: -30
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistal = -30
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDistalRight = -30
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDorsal:
@@ -797,12 +958,20 @@ ArmarX.contractor.config.discovery.unknown_object_oobb.objectCentricPointCloudFi
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationDorsal = 0
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumb:
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbLeft:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbLeft = 0
+
+
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbRight:
# Attributes:
# - Default: -30
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumb = -30
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateOffsetTranslationThumbRight = -30
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateShiftTowardsCenterInMM:
@@ -813,13 +982,13 @@ ArmarX.contractor.config.discovery.unknown_object_oobb.objectCentricPointCloudFi
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.candidateShiftTowardsCenterInMM = 30
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHeighObjects:
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHighObjects:
# Attributes:
# - Default: true
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHeighObjects = true
+# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.disableTopGraspsForHighObjects = true
# ArmarX.contractor.config.discovery.unknown_object_oobb.oobb_hypothesis_builder.heightMaxInMM:
@@ -1030,68 +1199,68 @@ ArmarX.contractor.config.execution.external.proxyName = action_execution
# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.enableThumbDownPoses = false
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.prePoseOffsetInMM:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.otherApproach:
# Attributes:
-# - Default: 50
+# - Default: 200
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.prePoseOffsetInMM = 50
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.otherApproach = 200
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.closingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.otherApproachAdditionalZ:
# Attributes:
-# - Default: Close
+# - Default: 0
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.closingEntityName = Close
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.otherApproachAdditionalZ = 0
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.graspingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.sideApproach:
# Attributes:
-# - Default: Grasp
+# - Default: 200
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.graspingEntityName = Grasp
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.sideApproach = 200
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.openingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.topApproach:
# Attributes:
-# - Default: Open
+# - Default: 200
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.openingEntityName = Open
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.topApproach = 200
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.placingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.withDirection:
# Attributes:
-# - Default: Place
+# - Default: 200
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.placingEntityName = Place
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.prePose.withDirection = 200
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.providerSegmentName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.retractPose.minZToPrePose:
# Attributes:
-# - Default: Armar6
+# - Default: 100
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.providerSegmentName = Armar6
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.offsets.retractPose.minZToPrePose = 100
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.pullingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.entityNames:
# Attributes:
-# - Default: Pull
+# - Default: Close:Close,Grasp:Grasp,Open:Open,Place:Place,Pour:Pour,Pull:Pull,Push:Push
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.pullingEntityName = Pull
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.entityNames = Close:Close,Grasp:Grasp,Open:Open,Place:Place,Pour:Pour,Pull:Pull,Push:Push
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.pushingEntityName:
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.providerSegmentNames:
# Attributes:
-# - Default: Push
+# - Default: Close:Predefined,Grasp:Predefined,Open:Predefined,Place:Predefined,Pour:Predefined,Pull:Predefined,Push:Predefined
# - Case sensitivity: yes
# - Required: no
-# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.pushingEntityName = Push
+# ArmarX.contractor.config.parameterization.frontal_placement.actionBuilder.trajectoryIDs.providerSegmentNames = Close:Predefined,Grasp:Predefined,Open:Predefined,Place:Predefined,Pour:Predefined,Pull:Predefined,Push:Predefined
# ArmarX.contractor.config.parameterization.frontal_placement.enable:
@@ -1471,6 +1640,80 @@ ArmarX.contractor.config.planning.visualizeActions = true
# ArmarX.contractor.config.validation.filtering.enable = true
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.alphaGradientDescent:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.alphaGradientDescent = 1
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.gradientThreshold:
+# Attributes:
+# - Default: 0.0030000000000000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.gradientThreshold = 0.0030000000000000001
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.jointLimitAvoidance:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.jointLimitAvoidance = true
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxIterations:
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxIterations = 50
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxOrientationVelRadian:
+# Attributes:
+# - Default: 0.20000000000000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxOrientationVelRadian = 0.20000000000000001
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxPositionVelMeter:
+# Attributes:
+# - Default: 0.29999999999999999
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.maxPositionVelMeter = 0.29999999999999999
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.thresholdOrientationReachedRadian:
+# Attributes:
+# - Default: 0.10000000000000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.thresholdOrientationReachedRadian = 0.10000000000000001
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.thresholdPositionReachedMeter:
+# Attributes:
+# - Default: 0.014999999999999999
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.thresholdPositionReachedMeter = 0.014999999999999999
+
+
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.useAnalyticalQuaternionJacobian:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.contractor.config.validation.filtering.jacobianVelocityReachabilityFilter.useAnalyticalQuaternionJacobian = true
+
+
# ArmarX.contractor.config.validation.filtering.reachabilityFilter.diffIkParams.ikStepLengthFineTune:
# Attributes:
# - Default: 0.5
diff --git a/scenarios/Armar6ManipulationPipeline/config/manipulation_memory.cfg b/scenarios/Armar6ManipulationPipeline/config/manipulation_memory.cfg
index aaa01cad0d65c39bbc3dca01884f00bbead9a81a..c1ebf4a0abd2a9825f154ba476616dfcb8f9e4eb 100644
--- a/scenarios/Armar6ManipulationPipeline/config/manipulation_memory.cfg
+++ b/scenarios/Armar6ManipulationPipeline/config/manipulation_memory.cfg
@@ -140,7 +140,7 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ManipulationMemory.handTrajectoryPackagePaths = ""
+ArmarX.ManipulationMemory.handTrajectoryPackagePaths = armar6_skills:motions/grasps
# ArmarX.ManipulationMemory.mem.MemoryName: Name of this memory server.
@@ -153,10 +153,10 @@
# ArmarX.ManipulationMemory.mem.ltm.configuration:
# Attributes:
-# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# - Default: { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ManipulationMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}, "PngConverter": {}, "ExrConverter": {}}
+# ArmarX.ManipulationMemory.mem.ltm.configuration = { "SnapshotFrequencyFilter": {"WaitingTimeInMsForFilter" : 50}}
# ArmarX.ManipulationMemory.mem.ltm.enabled:
@@ -173,7 +173,7 @@
# - Default: MemoryExport
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ManipulationMemory.mem.ltm.exportName = MemoryExport
+ArmarX.ManipulationMemory.mem.ltm.exportName = MemoryExport_HARIA
# ArmarX.ManipulationMemory.mem.ltm.exportPath:
@@ -181,7 +181,40 @@
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ManipulationMemory.mem.ltm.exportPath = ""
+ArmarX.ManipulationMemory.mem.ltm.exportPath = $HOME
+
+
+# ArmarX.ManipulationMemory.mem.ltm.importOnStartUp:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ManipulationMemory.mem.ltm.importOnStartUp = false
+
+
+# ArmarX.ManipulationMemory.mem.ltm.loadedCoreSegments:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ManipulationMemory.mem.ltm.loadedCoreSegments = ""
+
+
+# ArmarX.ManipulationMemory.mem.ltm.maxAmountSnapshotsLoaded:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ManipulationMemory.mem.ltm.maxAmountSnapshotsLoaded = 1
+
+
+# ArmarX.ManipulationMemory.mem.ltm.recordingMode:
+# Attributes:
+# - Default: CONSOLIDATE_REMOVED
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ManipulationMemory.mem.ltm.recordingMode = CONSOLIDATE_ALL
# ArmarX.ManipulationMemory.mem.ltm.storeFrequency:
@@ -192,6 +225,15 @@
# ArmarX.ManipulationMemory.mem.ltm.storeFrequency = 10
+# ArmarX.ManipulationMemory.mem.ltm.storeOnStop:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ManipulationMemory.mem.ltm.storeOnStop = false
+
+
# ArmarX.ManipulationMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
# Set to false to use this memory as a stand-alone.
# Attributes:
diff --git a/scenarios/Armar6ManipulationPipeline/config/optik_wb_target_generator.cfg b/scenarios/Armar6ManipulationPipeline/config/optik_wb_target_generator.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..0436ce074bbf0107aedd1e5f6bf1e16679085ef8
--- /dev/null
+++ b/scenarios/Armar6ManipulationPipeline/config/optik_wb_target_generator.cfg
@@ -0,0 +1,265 @@
+# ==================================================================
+# optik_wb_target_generator properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.AutodiscoverPackages: If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
+# ArmarX.optik_wb_target_generator.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.optik_wb_target_generator.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.optik_wb_target_generator.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.optik_wb_target_generator.EnableProfiling = false
+
+
+# ArmarX.optik_wb_target_generator.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.optik_wb_target_generator.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.optik_wb_target_generator.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.ObjectName = ""
+
+
+# ArmarX.optik_wb_target_generator.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.optik_wb_target_generator.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.optik_wb_target_generator.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.optik_wb_target_generator.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.optik_wb_target_generator.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.optik_wb_target_generator.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.optik_wb_target_generator.p.visualizeTargetManipulability:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.optik_wb_target_generator.p.visualizeTargetManipulability = false
+
+
+# ArmarX.optik_wb_target_generator.p.visualizeTargetState:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.optik_wb_target_generator.p.visualizeTargetState = false
+
+
diff --git a/scenarios/Armar6ManipulationPipeline/config/placement_around_box.cfg b/scenarios/Armar6ManipulationPipeline/config/placement_around_box.cfg
index ebf415203b226d58dee613269918229a948e5c31..7279036b9d02cd0f82d864ae5de97181baf9fbf9 100644
--- a/scenarios/Armar6ManipulationPipeline/config/placement_around_box.cfg
+++ b/scenarios/Armar6ManipulationPipeline/config/placement_around_box.cfg
@@ -214,7 +214,7 @@
# Attributes:
# - Case sensitivity: yes
# - Required: yes
-# ArmarX.PlacementAroundBox.p.robotName = ::_NOT_SET_::
+ArmarX.PlacementAroundBox.p.robotName = Armar6
# ArmarX.PlacementAroundBox.p.usePrimitiveApproximationColModel:
diff --git a/scenarios/Armar6MobileManipulation/config/placement_around_box.cfg b/scenarios/Armar6MobileManipulation/config/placement_around_box.cfg
index 87338e0c517aa8219732395dd63afbdd926e23d9..b8ae25065f613cd22c103f6baf5587cc1d4bcc50 100644
--- a/scenarios/Armar6MobileManipulation/config/placement_around_box.cfg
+++ b/scenarios/Armar6MobileManipulation/config/placement_around_box.cfg
@@ -160,6 +160,13 @@
# ArmarX.PlacementAroundBox.p.debugging.visualizeForAllObjects = false
+# ArmarX.PlacementAroundBox.p.robotName: Name of the robot to use for collision checking
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.PlacementAroundBox.p.robotName = Armar6
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
# - Default: true
diff --git a/scenarios/Armar6Skills/Armar6Skills.scx b/scenarios/Armar6Skills/Armar6Skills.scx
index b549ad6a3f89757ab5f73d3891e74fd6d20479de..5cda5b96792a5cb7b0c6af3786f2edd3f0c28b93 100644
--- a/scenarios/Armar6Skills/Armar6Skills.scx
+++ b/scenarios/Armar6Skills/Armar6Skills.scx
@@ -1,12 +1,13 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="Armar6Skills" creation="2023-02-13.20:30:43" globalConfigName="./config/global.cfg" package="armar6_skills" deploymentType="local" nodeName="NodeMain">
- <application name="introduction_skill_provider" instance="" package="armar6_skills" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="navigation_skill_provider" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="view_selection_skill_provider" instance="" package="armarx_view_selection" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="articulated_objects_skill_provider" instance="" package="armarx_manipulation" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="Armar6KnownObjectGraspProvider" instance="" package="armar6_skills" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="hand_over_skill_provider" instance="legacy" package="armar6_skills" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="hand_over_skill_provider" instance="" package="armarx_human_robot_interaction" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="control_skill_provider" instance="" package="armarx_control" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="Armar6Skills" creation="2023-02-13.20:30:43" globalConfigName="./config/global.cfg" package="armar6_skills" nodeName="NodeMain">
+ <application name="introduction_skill_provider" instance="" package="armar6_skills" nodeName="" enabled="true"/>
+ <application name="navigation_skill_provider" instance="" package="armarx_navigation" nodeName="" enabled="true"/>
+ <application name="view_selection_skill_provider" instance="" package="armarx_view_selection" nodeName="" enabled="true"/>
+ <application name="articulated_objects_skill_provider" instance="" package="armarx_manipulation" nodeName="" enabled="false"/>
+ <application name="Armar6KnownObjectGraspProvider" instance="" package="armar6_skills" nodeName="" enabled="true"/>
+ <application name="hand_over_skill_provider" instance="legacy" package="armar6_skills" nodeName="" enabled="false"/>
+ <application name="control_skill_provider" instance="" package="armarx_control" nodeName="" enabled="true"/>
+ <application name="human_robot_skill_provider" instance="" package="armarx_human_robot_interaction" nodeName="" enabled="true"/>
+ <application name="bimanual_transport_skill_provider" instance="" package="armarx_control" nodeName="" enabled="true"/>
</scenario>
diff --git a/scenarios/Armar6Skills/config/bimanual_transport_skill_provider.cfg b/scenarios/Armar6Skills/config/bimanual_transport_skill_provider.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..32d142e53d81f37a93d803b8a4966ba43261dbe0
--- /dev/null
+++ b/scenarios/Armar6Skills/config/bimanual_transport_skill_provider.cfg
@@ -0,0 +1,253 @@
+# ==================================================================
+# bimanual_transport_skill_provider properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.AutodiscoverPackages: If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
+# ArmarX.bimanual_transport_skill_provider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.bimanual_transport_skill_provider.EnableProfiling = false
+
+
+# ArmarX.bimanual_transport_skill_provider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.bimanual_transport_skill_provider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.bimanual_transport_skill_provider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.bimanual_transport_skill_provider.ObjectName = ""
+
+
+# ArmarX.bimanual_transport_skill_provider.RobotUnitName: Name of the RobotUnit
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.bimanual_transport_skill_provider.RobotUnitName = Armar6Unit
+
+
+# ArmarX.bimanual_transport_skill_provider.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.bimanual_transport_skill_provider.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.bimanual_transport_skill_provider.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.bimanual_transport_skill_provider.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.bimanual_transport_skill_provider.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.bimanual_transport_skill_provider.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.bimanual_transport_skill_provider.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.bimanual_transport_skill_provider.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.bimanual_transport_skill_provider.p.robotName:
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.bimanual_transport_skill_provider.p.robotName = Armar6
+
+
+# ArmarX.bimanual_transport_skill_provider.skill.SkillManager: The name of the SkillManager (or SkillMemory) proxy this provider belongs to.
+# Attributes:
+# - Default: SkillMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.bimanual_transport_skill_provider.skill.SkillManager = SkillMemory
+
+
diff --git a/scenarios/Armar6Skills/config/control_skill_provider.cfg b/scenarios/Armar6Skills/config/control_skill_provider.cfg
index f3e229c3fdcf05bcf7ab77a6343834a76dd5b4d2..b21ac1149fb944bb6d712f5b07101dbe1e11e5bd 100644
--- a/scenarios/Armar6Skills/config/control_skill_provider.cfg
+++ b/scenarios/Armar6Skills/config/control_skill_provider.cfg
@@ -169,6 +169,22 @@
# ArmarX.Verbosity = Info
+# ArmarX.control_skill_provider.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.control_skill_provider.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.control_skill_provider.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.control_skill_provider.ArVizTopicName = ArVizTopic
+
+
# ArmarX.control_skill_provider.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
# - Default: false
@@ -225,6 +241,14 @@ ArmarX.control_skill_provider.RobotName = Armar6
ArmarX.control_skill_provider.RobotUnitName = Armar6Unit
+# ArmarX.control_skill_provider.TrajectoryPlayerName: Name of the TrajectoryPlayer
+# Attributes:
+# - Default: TrajectoryPlayer
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.control_skill_provider.TrajectoryPlayerName = TrajectoryPlayer
+
+
# ArmarX.control_skill_provider.cmp.KinematicUnit: Ice object name of the `KinematicUnit` component.
# Attributes:
# - Default: KinematicUnit
diff --git a/scenarios/Armar6Skills/config/hand_over_skill_provider.cfg b/scenarios/Armar6Skills/config/human_robot_skill_provider.cfg
similarity index 74%
rename from scenarios/Armar6Skills/config/hand_over_skill_provider.cfg
rename to scenarios/Armar6Skills/config/human_robot_skill_provider.cfg
index 83d8f66684a759dd9add93ba7220c0a17f030b06..7ddc2dde37aea63620e558c0b05c2ebbbe90dfcb 100644
--- a/scenarios/Armar6Skills/config/hand_over_skill_provider.cfg
+++ b/scenarios/Armar6Skills/config/human_robot_skill_provider.cfg
@@ -1,5 +1,5 @@
# ==================================================================
-# hand_over_skill_provider properties
+# human_robot_skill_provider properties
# ==================================================================
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
@@ -169,135 +169,126 @@
# ArmarX.Verbosity = Info
-# ArmarX.hand_over_skill_provider.ArVizStorageName: Name of the ArViz storage
+# ArmarX.human_robot_skill_provider.ArVizStorageName: Name of the ArViz storage
# Attributes:
# - Default: ArVizStorage
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.ArVizStorageName = ArVizStorage
+# ArmarX.human_robot_skill_provider.ArVizStorageName = ArVizStorage
-# ArmarX.hand_over_skill_provider.ArVizTopicName: Name of the ArViz topic
+# ArmarX.human_robot_skill_provider.ArVizTopicName: Name of the ArViz topic
# Attributes:
# - Default: ArVizTopic
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.ArVizTopicName = ArVizTopic
+# ArmarX.human_robot_skill_provider.ArVizTopicName = ArVizTopic
-# ArmarX.hand_over_skill_provider.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.human_robot_skill_provider.DebugObserverTopicName: Name of the topic the DebugObserver listens on
# Attributes:
-# - Default: false
+# - Default: DebugObserver
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.hand_over_skill_provider.EnableProfiling = false
+# ArmarX.human_robot_skill_provider.DebugObserverTopicName = DebugObserver
-# ArmarX.hand_over_skill_provider.MinimumLoggingLevel: Local logging level only for this component
+# ArmarX.human_robot_skill_provider.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: Undefined
+# - Default: false
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.hand_over_skill_provider.MinimumLoggingLevel = Undefined
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.human_robot_skill_provider.EnableProfiling = false
-# ArmarX.hand_over_skill_provider.ObjectName: Name of IceGrid well-known object
+# ArmarX.human_robot_skill_provider.HandControlSkillProviderName:
# Attributes:
-# - Default: ""
+# - Default: control_skill_provider
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.ObjectName = ""
+# ArmarX.human_robot_skill_provider.HandControlSkillProviderName = control_skill_provider
-# ArmarX.hand_over_skill_provider.RobotName:
+# ArmarX.human_robot_skill_provider.LeftHandUnit: Ice object name of the `HandUnit` component.
# Attributes:
-# - Default: Armar7
+# - Default: LeftHandUnit
# - Case sensitivity: yes
# - Required: no
-ArmarX.hand_over_skill_provider.RobotName = Armar6
+# ArmarX.human_robot_skill_provider.LeftHandUnit = LeftHandUnit
-# ArmarX.hand_over_skill_provider.cmp.RobotUnit: Ice object name of the `RobotUnit` component.
+# ArmarX.human_robot_skill_provider.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
-# - Default: Armar6Unit
+# - Default: Undefined
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.cmp.RobotUnit = Armar6Unit
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.human_robot_skill_provider.MinimumLoggingLevel = Undefined
-# ArmarX.hand_over_skill_provider.handControlSkillProviderName:
+# ArmarX.human_robot_skill_provider.ObjectName: Name of IceGrid well-known object
# Attributes:
-# - Default: control_skill_provider
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.handControlSkillProviderName = control_skill_provider
+# ArmarX.human_robot_skill_provider.ObjectName = ""
-# ArmarX.hand_over_skill_provider.handoverForceThresholdLeft:
+# ArmarX.human_robot_skill_provider.RightHandUnit: Ice object name of the `HandUnit` component.
# Attributes:
-# - Default: 15
+# - Default: RightHandUnit
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.handoverForceThresholdLeft = 15
+# ArmarX.human_robot_skill_provider.RightHandUnit = RightHandUnit
-# ArmarX.hand_over_skill_provider.handoverForceThresholdRight:
+# ArmarX.human_robot_skill_provider.RobotName:
# Attributes:
-# - Default: 15
# - Case sensitivity: yes
-# - Required: no
-# ArmarX.hand_over_skill_provider.handoverForceThresholdRight = 15
+# - Required: yes
+ArmarX.human_robot_skill_provider.RobotName = Armar6
-# ArmarX.hand_over_skill_provider.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
-# Set to false to use this memory as a stand-alone.
+# ArmarX.human_robot_skill_provider.RobotUnitName: Ice object name of the `RobotUnit` component.
# Attributes:
-# - Default: true
+# - Default: RobotUnit
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.hand_over_skill_provider.mns.MemoryNameSystemEnabled = true
+ArmarX.human_robot_skill_provider.RobotUnitName = Armar6Unit
-# ArmarX.hand_over_skill_provider.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# ArmarX.human_robot_skill_provider.ViewSelectionSkillProviderName:
# Attributes:
-# - Default: MemoryNameSystem
+# - Default: view_selection_skill_provider
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.human_robot_skill_provider.ViewSelectionSkillProviderName = view_selection_skill_provider
-# ArmarX.hand_over_skill_provider.receiveForceThresholdLeft:
+# ArmarX.human_robot_skill_provider.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
# Attributes:
-# - Default: 15
+# - Default: true
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.receiveForceThresholdLeft = 15
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.human_robot_skill_provider.mns.MemoryNameSystemEnabled = true
-# ArmarX.hand_over_skill_provider.receiveForceThresholdRight:
+# ArmarX.human_robot_skill_provider.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
# Attributes:
-# - Default: 15
+# - Default: MemoryNameSystem
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.receiveForceThresholdRight = 15
+# ArmarX.human_robot_skill_provider.mns.MemoryNameSystemName = MemoryNameSystem
-# ArmarX.hand_over_skill_provider.skill.SkillManager: The name of the SkillManager (or SkillMemory) proxy this provider belongs to.
+# ArmarX.human_robot_skill_provider.skill.SkillManager: The name of the SkillManager (or SkillMemory) proxy this provider belongs to.
# Attributes:
# - Default: SkillMemory
# - Case sensitivity: yes
# - Required: no
-# ArmarX.hand_over_skill_provider.skill.SkillManager = SkillMemory
-
-
-# ArmarX.hand_over_skill_provider.viewSelectionSkillProviderName:
-# Attributes:
-# - Default: view_selection_skill_provider
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.hand_over_skill_provider.viewSelectionSkillProviderName = view_selection_skill_provider
+# ArmarX.human_robot_skill_provider.skill.SkillManager = SkillMemory
diff --git a/scenarios/Armar6Skills/config/view_selection_skill_provider.cfg b/scenarios/Armar6Skills/config/view_selection_skill_provider.cfg
index 58a732978bae8255966e4710d5002d247f248bbd..ee9ce404a80ed0a3c2b5750c0664e0af1a69f55e 100644
--- a/scenarios/Armar6Skills/config/view_selection_skill_provider.cfg
+++ b/scenarios/Armar6Skills/config/view_selection_skill_provider.cfg
@@ -235,6 +235,14 @@ ArmarX.ViewSelectionSkillProvider.RobotUnitName = Armar6Unit
# ArmarX.view_selection_skill_provider.RemoteStateComponentName = RobotStateComponent
+# ArmarX.view_selection_skill_provider.cmp.GazeScheduler: Ice object name of the `GazeScheduler` component.
+# Attributes:
+# - Default: GazeScheduler
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.view_selection_skill_provider.cmp.GazeScheduler = GazeScheduler
+
+
# ArmarX.view_selection_skill_provider.cmp.KinematicUnit: Ice object name of the `KinematicUnit` component.
# Attributes:
# - Default: KinematicUnit
@@ -243,6 +251,14 @@ ArmarX.ViewSelectionSkillProvider.RobotUnitName = Armar6Unit
ArmarX.view_selection_skill_provider.cmp.KinematicUnit = Armar6KinematicUnit
+# ArmarX.view_selection_skill_provider.mem.obj.instance.MemoryName:
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.view_selection_skill_provider.mem.obj.instance.MemoryName = Object
+
+
# ArmarX.view_selection_skill_provider.mem.robot_state.Memory:
# Attributes:
# - Default: RobotState
@@ -309,6 +325,22 @@ ArmarX.view_selection_skill_provider.p.KinematicUnit = Armar6KinematicUnit
# ArmarX.view_selection_skill_provider.p.RobotName = Armar6
+# ArmarX.view_selection_skill_provider.p.scanLocationsForObject.subSkillIDs.lookAtArticulatedObjectFrame->providerName:
+# Attributes:
+# - Default: view_selection_skill_provider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.view_selection_skill_provider.p.scanLocationsForObject.subSkillIDs.lookAtArticulatedObjectFrame->providerName = view_selection_skill_provider
+
+
+# ArmarX.view_selection_skill_provider.p.scanLocationsForObject.subSkillIDs.lookAtArticulatedObjectFrame.skillName:
+# Attributes:
+# - Default: LookAtArticulatedObjectFrame
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.view_selection_skill_provider.p.scanLocationsForObject.subSkillIDs.lookAtArticulatedObjectFrame.skillName = LookAtArticulatedObjectFrame
+
+
# ArmarX.view_selection_skill_provider.skill.SkillManager: The name of the SkillManager (or SkillMemory) proxy this provider belongs to.
# Attributes:
# - Default: SkillMemory
diff --git a/scenarios/CeBITTasks/CeBITTasks.scx b/scenarios/CeBITTasks/CeBITTasks.scx
index 5387e37dab47813f625af2c5188b8e216a445ec0..3cd3be7023dd086c768d2ff5248c13cdbbdeafe2 100644
--- a/scenarios/CeBITTasks/CeBITTasks.scx
+++ b/scenarios/CeBITTasks/CeBITTasks.scx
@@ -1,53 +1,53 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="CeBITTasks" creation="2018-05-15.15:05:44" globalConfigName="./config/global.cfg" package="armar6_skills" deploymentType="local" nodeName="NodeMain">
- <application name="MemoryXDomainGeneratorApp" instance="" package="Spoac" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="SpoacExecutiveApp" instance="" package="Spoac" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="StatechartExecutorApp" instance="" package="Spoac" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="SimplePlanningSymbolsUpdaterApp" instance="" package="Spoac" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="GraphNodePoseResolverApp" instance="" package="MemoryX" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="PlatformGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6HighlevelTaskGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ActionGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="MotionControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="WorldStateObserver" instance="" package="MemoryX" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6BoardSupportDemo" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6CleanUpTaskGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6DMPControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6FollowMeDemo" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6GraspingGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6GuardSupportDemoGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6LowLevelHandControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6NavigationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6Poses" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6PresentationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="HandOverGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="GazeControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="HandGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="MemoryXUtility" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ObjectLocalization" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ScanLocationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="SpeechObserverApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="DummyTextToSpeechApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="CoreUtility" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6Arms" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ForceTorqueUtility" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ForceControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="RTMotionControlGoup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6WipingDemoGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6FTHandControlGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="DynamicPlatformObstacleAvoidanceGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="DSControllerGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6HeadGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6VisualGraspingGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="GraspCandidateObserverApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="Armar6GraspProvider" instance="" package="armar6_skills" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6SearchAction" package="ArmarXCore" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="Armar6DemoConnector" instance="" package="armar6_skills" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="Armar6BimanualManipulationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="LookAtHand" instance="" package="armar6_skills" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="NavigationCommands" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="NavigationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="NavigateToLocationGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="XMLRemoteStateOfferer" instance="ObjectMemoryGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="CeBITTasks" creation="2018-05-15.15:05:44" globalConfigName="./config/global.cfg" package="armar6_skills" nodeName="NodeMain">
+ <application name="MemoryXDomainGeneratorApp" instance="" package="Spoac" nodeName="" enabled="true"/>
+ <application name="SpoacExecutiveApp" instance="" package="Spoac" nodeName="" enabled="true"/>
+ <application name="StatechartExecutorApp" instance="" package="Spoac" nodeName="" enabled="true"/>
+ <application name="SimplePlanningSymbolsUpdaterApp" instance="" package="Spoac" nodeName="" enabled="false"/>
+ <application name="GraphNodePoseResolverApp" instance="" package="MemoryX" nodeName="" enabled="false"/>
+ <application name="XMLRemoteStateOfferer" instance="PlatformGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6HighlevelTaskGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ActionGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="MotionControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="WorldStateObserver" instance="" package="MemoryX" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6BoardSupportDemo" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6CleanUpTaskGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6DMPControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6FollowMeDemo" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6GraspingGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6GuardSupportDemoGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6LowLevelHandControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6NavigationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6Poses" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6PresentationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="HandOverGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="GazeControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="HandGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="MemoryXUtility" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ObjectLocalization" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ScanLocationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="SpeechObserverApp" instance="" package="RobotAPI" nodeName="" enabled="false"/>
+ <application name="DummyTextToSpeechApp" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="CoreUtility" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6Arms" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ForceTorqueUtility" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ForceControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="RTMotionControlGoup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6WipingDemoGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6FTHandControlGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="DynamicPlatformObstacleAvoidanceGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="DSControllerGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6HeadGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6VisualGraspingGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="GraspCandidateObserverApp" instance="" package="RobotAPI" nodeName="" enabled="false"/>
+ <application name="Armar6GraspProvider" instance="" package="armar6_skills" nodeName="" enabled="false"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6SearchAction" package="ArmarXCore" nodeName="" enabled="false"/>
+ <application name="Armar6DemoConnector" instance="" package="armar6_skills" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="Armar6BimanualManipulationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="LookAtHand" instance="" package="armar6_skills" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="NavigationCommands" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="NavigationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="NavigateToLocationGroup" package="ArmarXCore" nodeName="" enabled="true"/>
+ <application name="XMLRemoteStateOfferer" instance="ObjectMemoryGroup" package="ArmarXCore" nodeName="" enabled="true"/>
</scenario>
diff --git a/scenarios/HumanAvoidance/HumanAvoidance.scx b/scenarios/HumanAvoidance/HumanAvoidance.scx
index d4226def1089f999c036db17653288e101f7cbd6..7da648e98612bd9fcd605902c477676fb5a00cb1 100644
--- a/scenarios/HumanAvoidance/HumanAvoidance.scx
+++ b/scenarios/HumanAvoidance/HumanAvoidance.scx
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="HumanAvoidance" creation="2020-02-24.08:39:11 AM" globalConfigName="./config/global.cfg" package="armar6_skills" deploymentType="local" nodeName="NodeMain">
- <application name="DSObstacleAvoidance" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="HumanObstacleDetectionApp" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="LaserScannerObstacleDetection" instance="" package="RobotComponents" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="DynamicObstacleManager" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
- <application name="ObstacleAvoidingPlatformUnit" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
- <application name="ObstacleAwarePlatformUnit" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+<scenario name="HumanAvoidance" creation="2020-02-24.08:39:11 AM" globalConfigName="./config/global.cfg" package="armar6_skills" nodeName="NodeMain">
+ <application name="DSObstacleAvoidance" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="HumanObstacleDetectionApp" instance="" package="RobotComponents" nodeName="" enabled="true"/>
+ <application name="LaserScannerObstacleDetection" instance="" package="RobotComponents" nodeName="" enabled="true"/>
+ <application name="DynamicObstacleManager" instance="" package="RobotAPI" nodeName="" enabled="true"/>
+ <application name="ObstacleAvoidingPlatformUnit" instance="" package="RobotAPI" nodeName="" enabled="false"/>
+ <application name="ObstacleAwarePlatformUnit" instance="" package="RobotAPI" nodeName="" enabled="true"/>
</scenario>
diff --git a/source/armar6/skills/statecharts/Armar6BimanualManipulationGroup/TransportLadderV2.xml b/source/armar6/skills/statecharts/Armar6BimanualManipulationGroup/TransportLadderV2.xml
index ffb0f6ae7e01305219bac8c467f2ac25d92d48bf..b048aabffd932e0ff3e5ce567e838baf00e95162 100644
--- a/source/armar6/skills/statecharts/Armar6BimanualManipulationGroup/TransportLadderV2.xml
+++ b/source/armar6/skills/statecharts/Armar6BimanualManipulationGroup/TransportLadderV2.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="TransportLadderV2" uuid="E55F9276-3FF8-4556-874E-231868258EDD" width="8676.06" height="2831.61" type="Normal State">
+<State version="1.2" name="TransportLadderV2" uuid="E55F9276-3FF8-4556-874E-231868258EDD" width="7923.44" height="2919.01" type="Normal State">
<InputParameters>
<Parameter name="ArmMotionFileName" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
<DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"/home/armar-user/armar6_motion/Bimanual_test/OriginalBimanualForceControl.csv"}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="/home/armar-user/armar6_motion/Bimanual_test/OriginalBimanualForceControl.csv"/>
@@ -126,14 +126,14 @@
<DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"/home/armar-user/armar6_motion/BimanualTransportation/taskspace-trajectory-BoxApproachingForBimanualGraspingLeft-constant-orientation.csv"}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="/home/armar-user/armar6_motion/BimanualTransportation/taskspace-trajectory-BoxApproachingForBimanualGraspingLeft-constant-orientation.csv"/>
</Parameter>
<Parameter name="LeftApproachingTcpGoalPose" type="::armarx::PoseBase" docType="Pose" optional="no">
- <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-100,"y":715.0,"z":990}}}' docValue=" 0.999957 0.00927167 -0.000200648 -100\n 0.000117755 0.00893992 0.99996 715\n 0.00927309 -0.999917 0.00893843 990\n 0 0 0 1"/>
+ <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-50,"y":715.0,"z":990}}}' docValue=" 0.999957 0.00927167 -0.000200648 -50\n 0.000117755 0.00893992 0.99996 715\n 0.00927309 -0.999917 0.00893843 990\n 0 0 0 1"/>
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-300,"y":700.0,"z":1000}}}' docValue=" 0.999957 0.00927167 -0.000200648 -300\n 0.000117755 0.00893992 0.99996 700\n 0.00927309 -0.999917 0.00893843 1000\n 0 0 0 1"/>
</Parameter>
<Parameter name="LeftNavigationPose" type="::armarx::PoseBase" docType="Pose" optional="no">
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":-0.34914538264274597,"qx":0.61254483461380005,"qy":0.64365655183792114,"qz":0.29764541983604431,"x":-424.730224609375,"y":311.7841796875,"z":605.43731689453125}}}' docValue="-0.00577307 0.99638 -0.0848171 -424.73\n 0.580694 0.072392 0.810897 311.784\n 0.814102 -0.0445715 -0.57901 605.437\n 0 0 0 1"/>
</Parameter>
<Parameter name="LeftViaPose" type="::armarx::StringValueMapBase(::armarx::PoseBase)" docType="Map(Pose)" optional="yes">
- <DefaultValue profile="Armar6Real" value='{"map":{"0.2":{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-300,"y":715.0,"z":990}}}},"type":"::armarx::StringValueMapBase"}' docValue="0.2: 0.999957 0.00927167 -0.000200648 -300\n 0.000117755 0.00893992 0.99996 715\n 0.00927309 -0.999917 0.00893843 990\n 0 0 0 1\n"/>
+ <DefaultValue profile="Armar6Real" value='{"map":{"0.3":{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-300,"y":715.0,"z":990}}}},"type":"::armarx::StringValueMapBase"}' docValue="0.3: 0.999957 0.00927167 -0.000200648 -300\n 0.000117755 0.00893992 0.99996 715\n 0.00927309 -0.999917 0.00893843 990\n 0 0 0 1\n"/>
<DefaultValue value='{"map":{"0.2":{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::PoseBase","value":{"qw":0.71025276184082031,"qx":-0.70393157005310059,"qy":-0.0033346370328217745,"qz":-0.0032220622524619102,"x":-300,"y":710.0,"z":1000}}}},"type":"::armarx::StringValueMapBase"}' docValue="0.2: 0.999957 0.00927167 -0.000200648 -300\n 0.000117755 0.00893992 0.99996 710\n 0.00927309 -0.999917 0.00893843 1000\n 0 0 0 1\n"/>
</Parameter>
<Parameter name="MassLeft" type="::armarx::FloatVariantData" docType="float" optional="no">
@@ -237,43 +237,43 @@
<OutputParameters/>
<LocalParameters/>
<Substates>
- <LocalState name="AddObstacle" refuuid="6473D8D2-EB9E-41E2-BC2A-5781E129831B" left="7363.64" top="289.556" boundingSquareSize="99.6636"/>
- <RemoteState name="CloseBothHands" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="4634.94" top="1437.11" boundingSquareSize="99.6636"/>
- <RemoteState name="CloseBothHands_2" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="1936.28" top="1154.72" boundingSquareSize="99.6636"/>
- <RemoteState name="CloseRightHand" refuuid="802F09B5-5EB5-48AA-A909-BCEA99EE85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="1379.17" top="1034.61" boundingSquareSize="99.6636"/>
- <LocalState name="CreatCtrlAndLift" refuuid="A5F0807D-B3A6-46E8-8831-494AFCE297D2" left="2185.44" top="1186.83" boundingSquareSize="99.6636"/>
- <EndState name="Failure" event="Failure" left="8546.06" top="1558.39" boundingSquareSize="99.6636"/>
- <RemoteState name="GoToGoalPositionWithObstacleAvoidance" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="7331.64" top="1529.5" boundingSquareSize="164.836"/>
- <RemoteState name="GoToGoalPositionWithObstacleAvoidance_2" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="7973.83" top="1378.72" boundingSquareSize="173.779"/>
- <RemoteState name="GoToGoalPositionWithObstacleAvoidance_3" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="7650.56" top="333.389" boundingSquareSize="173.779"/>
- <RemoteState name="GoToPreGraspLandmark" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1055.94" top="926.278" boundingSquareSize="173.779"/>
- <RemoteState name="GoToTargetPose" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="2684.36" top="2457.78" boundingSquareSize="164.836"/>
- <LocalState name="IndependentBimanualDMPWithForceStop" refuuid="916C9BB6-A81C-495F-B471-B0E0C2F82687" left="1628.72" top="1137.72" boundingSquareSize="158.442"/>
- <RemoteState name="MoveBackToNavigationPose" refuuid="7CEA7DCE-053A-4955-9A1E-077C761FB8B6" proxyName="Armar6BoardSupportDemoRemoteStateOfferer" left="5978" top="1875.11" boundingSquareSize="109.885"/>
- <RemoteState name="MoveJoints" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="114.167" top="695.889" boundingSquareSize="99.6636"/>
- <RemoteState name="MovePlatformRelative" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="4884.11" top="2018.72" boundingSquareSize="99.6636"/>
- <RemoteState name="MovePlatformRelative_2" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="6491.56" top="1747.83" boundingSquareSize="99.6636"/>
- <RemoteState name="MovePlatformRelative_3" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="4271.42" top="1450.11" boundingSquareSize="99.6636"/>
- <RemoteState name="MovePlatformToLandmark" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="1092.94" top="1998.72" boundingSquareSize="100.942"/>
- <RemoteState name="MoveToAfterFinished" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="8004.83" top="542.611" boundingSquareSize="111.164"/>
- <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="552.444" top="754.556" boundingSquareSize="99.6636"/>
- <RemoteState name="NavigationPose_2" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="8297.06" top="501.556" boundingSquareSize="99.6636"/>
- <RemoteState name="NavigationPose_3" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="6832.72" top="1666.89" boundingSquareSize="99.6636"/>
- <RemoteState name="OpenBothHands_2" refuuid="88173D79-82C3-4FE1-ACB6-7296D8AA85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="5474.44" top="1948.22" boundingSquareSize="99.6636"/>
- <LocalState name="OpenLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="3745.61" top="2184.5" boundingSquareSize="99.6636"/>
- <RemoteState name="OpenLeftHand" refuuid="06C28E15-ECCE-4330-B149-1F27809605CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="3496.44" top="2249.78" boundingSquareSize="99.6636"/>
- <LocalState name="OpenPlaceLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="5225.28" top="2010.72" boundingSquareSize="99.6636"/>
- <LocalState name="PrePutDownLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="2998.11" top="2410.67" boundingSquareSize="99.6636"/>
- <LocalState name="PutDownLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="3247.28" top="2335.28" boundingSquareSize="99.6636"/>
- <LocalState name="RemoveObstacle" refuuid="46B82788-5777-4DAA-917B-E677AF040AFC" left="8010.83" top="426.278" boundingSquareSize="99.6636"/>
- <RemoteState name="ResolveLadderPreLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="802.167" top="842.389" boundingSquareSize="104.779"/>
- <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="7081.89" top="1579.11" boundingSquareSize="99.6636"/>
- <RemoteState name="ResolveLandmark_2" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="7687.56" top="1428.33" boundingSquareSize="99.6636"/>
- <RemoteState name="ResolveTargetLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="2434.61" top="2461.78" boundingSquareSize="99.6636"/>
- <LocalState name="StopController" refuuid="1F2BD891-2215-459C-B636-525BAB0569DF" left="6237.28" top="1807.56" boundingSquareSize="99.6636"/>
- <EndState name="Success" event="Success" left="8546.06" top="284.444" boundingSquareSize="99.6636"/>
- <RemoteState name="Wait" refuuid="D7B2D054-3E9B-4B7D-B9DC-FE37E73E6C9D" proxyName="MotionControlGroupRemoteStateOfferer" left="3994.78" top="1691.28" boundingSquareSize="99.6636"/>
- <RemoteState name="Wait_2" refuuid="D7B2D054-3E9B-4B7D-B9DC-FE37E73E6C9D" proxyName="MotionControlGroupRemoteStateOfferer" left="5723.61" top="1881.67" boundingSquareSize="99.6636"/>
+ <LocalState name="AddObstacle" refuuid="6473D8D2-EB9E-41E2-BC2A-5781E129831B" left="6491.56" top="288.278" boundingSquareSize="99.6636"/>
+ <RemoteState name="CloseBothHands" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="4631.11" top="1488.22" boundingSquareSize="99.6636"/>
+ <RemoteState name="CloseBothHands_2" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="1936.28" top="2164.15" boundingSquareSize="99.6636"/>
+ <RemoteState name="CloseRightHand" refuuid="802F09B5-5EB5-48AA-A909-BCEA99EE85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="1379.17" top="2505.32" boundingSquareSize="99.6636"/>
+ <LocalState name="CreatCtrlAndLift" refuuid="A5F0807D-B3A6-46E8-8831-494AFCE297D2" left="2185.44" top="2168.15" boundingSquareSize="99.6636"/>
+ <EndState name="Failure" event="Failure" left="7793.44" top="1589.04" boundingSquareSize="99.6636"/>
+ <RemoteState name="GoToGoalPositionWithObstacleAvoidance" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="7479.86" top="1586.04" boundingSquareSize="164.836"/>
+ <RemoteState name="GoToGoalPositionWithObstacleAvoidance_2" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="7156.06" top="597.611" boundingSquareSize="173.779"/>
+ <RemoteState name="GoToGoalPositionWithObstacleAvoidance_3" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="6832.78" top="342.055" boundingSquareSize="173.779"/>
+ <RemoteState name="GoToPreGraspLandmark" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1055.94" top="2505.32" boundingSquareSize="173.779"/>
+ <RemoteState name="GoToTargetPose" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="2684.36" top="1594.99" boundingSquareSize="164.836"/>
+ <LocalState name="IndependentBimanualDMPWithForceStop" refuuid="916C9BB6-A81C-495F-B471-B0E0C2F82687" left="1628.72" top="2488.32" boundingSquareSize="158.442"/>
+ <RemoteState name="MoveBackToNavigationPose" refuuid="7CEA7DCE-053A-4955-9A1E-077C761FB8B6" proxyName="Armar6BoardSupportDemoRemoteStateOfferer" left="5974.17" top="1886.6" boundingSquareSize="109.885"/>
+ <RemoteState name="MoveJoints" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="114.167" top="1113.72" boundingSquareSize="99.6636"/>
+ <RemoteState name="MovePlatformRelative" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="4880.28" top="2021.26" boundingSquareSize="99.6636"/>
+ <RemoteState name="MovePlatformRelative_2" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="6491.56" top="1795.1" boundingSquareSize="99.6636"/>
+ <RemoteState name="MovePlatformRelative_3" refuuid="8B23A512-C8AD-45BF-9B0C-D7E4EC830D5E" proxyName="PlatformGroupRemoteStateOfferer" left="4289.94" top="1501.22" boundingSquareSize="99.6636"/>
+ <RemoteState name="MovePlatformToLandmark" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="1092.94" top="2720.65" boundingSquareSize="100.942"/>
+ <RemoteState name="MoveToAfterFinished" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="7187.06" top="726.611" boundingSquareSize="111.164"/>
+ <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="552.444" top="1380.67" boundingSquareSize="99.6636"/>
+ <RemoteState name="NavigationPose_2" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="7511.86" top="510.5" boundingSquareSize="99.6636"/>
+ <RemoteState name="NavigationPose_3" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="6869.78" top="1753.76" boundingSquareSize="99.6636"/>
+ <RemoteState name="OpenBothHands_2" refuuid="88173D79-82C3-4FE1-ACB6-7296D8AA85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="5470.61" top="1959.71" boundingSquareSize="99.6636"/>
+ <LocalState name="OpenLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="3745.61" top="2161.49" boundingSquareSize="99.6636"/>
+ <RemoteState name="OpenLeftHand" refuuid="06C28E15-ECCE-4330-B149-1F27809605CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="3496.44" top="2226.76" boundingSquareSize="99.6636"/>
+ <LocalState name="OpenPlaceLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="5221.44" top="2013.26" boundingSquareSize="99.6636"/>
+ <LocalState name="PrePutDownLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="2998.11" top="2290.54" boundingSquareSize="99.6636"/>
+ <LocalState name="PutDownLadder" refuuid="C9CF6660-F7F8-456D-8F20-D7226E72AD59" left="3247.28" top="2290.54" boundingSquareSize="99.6636"/>
+ <LocalState name="RemoveObstacle" refuuid="46B82788-5777-4DAA-917B-E677AF040AFC" left="7193.06" top="435.222" boundingSquareSize="99.6636"/>
+ <RemoteState name="ResolveLadderPreLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="802.167" top="1372.67" boundingSquareSize="104.779"/>
+ <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="7193.06" top="1668.26" boundingSquareSize="99.6636"/>
+ <RemoteState name="ResolveLandmark_2" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="6869.78" top="735.5" boundingSquareSize="99.6636"/>
+ <RemoteState name="ResolveTargetLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="2434.61" top="1597.99" boundingSquareSize="99.6636"/>
+ <LocalState name="StopController" refuuid="1F2BD891-2215-459C-B636-525BAB0569DF" left="6237.92" top="1787.1" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="7793.44" top="421.167" boundingSquareSize="99.6636"/>
+ <RemoteState name="Wait" refuuid="D7B2D054-3E9B-4B7D-B9DC-FE37E73E6C9D" proxyName="MotionControlGroupRemoteStateOfferer" left="4035.67" top="1724.49" boundingSquareSize="99.6636"/>
+ <RemoteState name="Wait_2" refuuid="D7B2D054-3E9B-4B7D-B9DC-FE37E73E6C9D" proxyName="MotionControlGroupRemoteStateOfferer" left="5719.78" top="1893.15" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
@@ -286,10 +286,10 @@
<ParameterMapping sourceType="Parent" from="TorsoTolerence" to="jointTargetTolerance"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="67.1067" posY="732.889"/>
- <SupportPoint posX="76.5839" posY="732.889"/>
- <SupportPoint posX="88.7241" posY="732.889"/>
- <SupportPoint posX="101.186" posY="732.889"/>
+ <SupportPoint posX="67.1067" posY="1150.72"/>
+ <SupportPoint posX="76.5839" posY="1150.72"/>
+ <SupportPoint posX="88.7241" posY="1150.72"/>
+ <SupportPoint posX="101.186" posY="1150.72"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -298,25 +298,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6088.46" posY="1923.59"/>
- <SupportPoint posX="6139.82" posY="1929.87"/>
- <SupportPoint posX="6218.66" posY="1937.83"/>
- <SupportPoint posX="6287.28" posY="1937.83"/>
- <SupportPoint posX="6287.28" posY="1937.83"/>
- <SupportPoint posX="6287.28" posY="1937.83"/>
- <SupportPoint posX="6712.14" posY="1937.83"/>
- <SupportPoint posX="7095.22" posY="1937.83"/>
- <SupportPoint posX="7190.28" posY="1972.33"/>
- <SupportPoint posX="7573.36" posY="1972.33"/>
- <SupportPoint posX="7573.36" posY="1972.33"/>
- <SupportPoint posX="7573.36" posY="1972.33"/>
- <SupportPoint posX="8347.06" posY="1972.33"/>
- <SupportPoint posX="8432.28" posY="1972.33"/>
- <SupportPoint posX="8468.32" posY="1962.03"/>
- <SupportPoint posX="8523.39" posY="1896.94"/>
- <SupportPoint posX="8555.21" posY="1859.31"/>
- <SupportPoint posX="8578.72" posY="1721.37"/>
- <SupportPoint posX="8589.58" posY="1645.77"/>
+ <SupportPoint posX="6084.24" posY="1931.88"/>
+ <SupportPoint posX="6291.37" posY="1946.73"/>
+ <SupportPoint posX="7042.32" posY="1988.87"/>
+ <SupportPoint posX="7644.28" posY="1872.65"/>
+ <SupportPoint posX="7702.16" posY="1861.49"/>
+ <SupportPoint posX="7728.36" posY="1873.97"/>
+ <SupportPoint posX="7770.78" posY="1833.04"/>
+ <SupportPoint posX="7813.84" posY="1791.49"/>
+ <SupportPoint posX="7831.47" posY="1723.04"/>
+ <SupportPoint posX="7838.63" posY="1676.32"/>
</SupportPoints>
</Transition>
<Transition from="MoveBackToNavigationPose" to="StopController" eventName="Success">
@@ -327,10 +318,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6088.2" posY="1900.59"/>
- <SupportPoint posX="6128.45" posY="1889.27"/>
- <SupportPoint posX="6183.01" posY="1873.91"/>
- <SupportPoint posX="6224.79" posY="1862.13"/>
+ <SupportPoint posX="6084.62" posY="1905.39"/>
+ <SupportPoint posX="6126.02" posY="1888.84"/>
+ <SupportPoint posX="6182.5" posY="1866.25"/>
+ <SupportPoint posX="6225.43" posY="1849.08"/>
</SupportPoints>
</Transition>
<Transition from="CreatCtrlAndLift" to="Failure" eventName="Failure">
@@ -338,25 +329,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2285.41" posY="1218.7"/>
- <SupportPoint posX="2335.75" posY="1213.08"/>
- <SupportPoint posX="2415.36" posY="1205.67"/>
- <SupportPoint posX="2484.61" posY="1205.67"/>
- <SupportPoint posX="2484.61" posY="1205.67"/>
- <SupportPoint posX="2484.61" posY="1205.67"/>
- <SupportPoint posX="5104.69" posY="1205.67"/>
- <SupportPoint posX="6131.01" posY="1205.67"/>
- <SupportPoint posX="6387.33" posY="1171.17"/>
- <SupportPoint posX="7413.64" posY="1171.17"/>
- <SupportPoint posX="7413.64" posY="1171.17"/>
- <SupportPoint posX="7413.64" posY="1171.17"/>
- <SupportPoint posX="7899.19" posY="1171.17"/>
- <SupportPoint posX="8185.16" posY="1171.17"/>
- <SupportPoint posX="8320.35" posY="1125.68"/>
- <SupportPoint posX="8523.39" posY="1327.06"/>
- <SupportPoint posX="8554.06" posY="1357.47"/>
- <SupportPoint posX="8577.44" posY="1476.56"/>
- <SupportPoint posX="8588.68" posY="1545.38"/>
+ <SupportPoint posX="2246.31" posY="2245.01"/>
+ <SupportPoint posX="2272.24" posY="2328.58"/>
+ <SupportPoint posX="2346.36" posY="2517.93"/>
+ <SupportPoint posX="2484.61" posY="2517.93"/>
+ <SupportPoint posX="2484.61" posY="2517.93"/>
+ <SupportPoint posX="2484.61" posY="2517.93"/>
+ <SupportPoint posX="4212.81" posY="2517.93"/>
+ <SupportPoint posX="4850.16" posY="2517.93"/>
+ <SupportPoint posX="5007.84" posY="2586.93"/>
+ <SupportPoint posX="5645.19" posY="2586.93"/>
+ <SupportPoint posX="5645.19" posY="2586.93"/>
+ <SupportPoint posX="5645.19" posY="2586.93"/>
+ <SupportPoint posX="7561.86" posY="2586.93"/>
+ <SupportPoint posX="7659.61" posY="2586.93"/>
+ <SupportPoint posX="7710.34" posY="2594.78"/>
+ <SupportPoint posX="7770.78" posY="2517.93"/>
+ <SupportPoint posX="7822.91" posY="2451.59"/>
+ <SupportPoint posX="7839.01" posY="1855.05"/>
+ <SupportPoint posX="7842.72" posY="1676.39"/>
</SupportPoints>
</Transition>
<Transition from="CreatCtrlAndLift" to="ResolveTargetLandmark" eventName="Success">
@@ -367,10 +358,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2242.98" posY="1263.29"/>
- <SupportPoint posX="2279.02" posY="1447.68"/>
- <SupportPoint posX="2434.14" posY="2240.54"/>
- <SupportPoint posX="2474.77" posY="2448.61"/>
+ <SupportPoint posX="2252.18" posY="2167.78"/>
+ <SupportPoint posX="2296.14" posY="2067.13"/>
+ <SupportPoint posX="2414.59" posY="1795.57"/>
+ <SupportPoint posX="2463.27" posY="1683.93"/>
</SupportPoints>
</Transition>
<Transition from="GoToTargetPose" to="Failure" eventName="Failure">
@@ -378,25 +369,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2849.03" posY="2517.77"/>
- <SupportPoint posX="2905" posY="2528.96"/>
- <SupportPoint posX="2980.64" posY="2540.94"/>
- <SupportPoint posX="3048.11" posY="2540.94"/>
- <SupportPoint posX="3048.11" posY="2540.94"/>
- <SupportPoint posX="3048.11" posY="2540.94"/>
- <SupportPoint posX="5399.86" posY="2540.94"/>
- <SupportPoint posX="5622.96" posY="2540.94"/>
- <SupportPoint posX="5677.65" posY="2575.44"/>
- <SupportPoint posX="5900.75" posY="2575.44"/>
- <SupportPoint posX="5900.75" posY="2575.44"/>
- <SupportPoint posX="5900.75" posY="2575.44"/>
- <SupportPoint posX="8347.06" posY="2575.44"/>
- <SupportPoint posX="8431.26" posY="2575.44"/>
- <SupportPoint posX="8473.17" posY="2574"/>
- <SupportPoint posX="8523.39" posY="2506.44"/>
- <SupportPoint posX="8574.88" posY="2437.15"/>
- <SupportPoint posX="8591.49" posY="1827.52"/>
- <SupportPoint posX="8595.33" posY="1646.1"/>
+ <SupportPoint posX="2780.42" posY="1594.75"/>
+ <SupportPoint posX="2813" posY="1509.65"/>
+ <SupportPoint posX="2902.19" posY="1319.39"/>
+ <SupportPoint posX="3048.11" posY="1319.39"/>
+ <SupportPoint posX="3048.11" posY="1319.39"/>
+ <SupportPoint posX="3048.11" posY="1319.39"/>
+ <SupportPoint posX="5100.86" posY="1319.39"/>
+ <SupportPoint posX="5454.68" posY="1319.39"/>
+ <SupportPoint posX="5543.1" posY="1302.78"/>
+ <SupportPoint posX="5896.92" posY="1302.78"/>
+ <SupportPoint posX="5896.92" posY="1302.78"/>
+ <SupportPoint posX="5896.92" posY="1302.78"/>
+ <SupportPoint posX="7561.86" posY="1302.78"/>
+ <SupportPoint posX="7666" posY="1302.78"/>
+ <SupportPoint posX="7702.67" posY="1329.99"/>
+ <SupportPoint posX="7770.78" posY="1408.83"/>
+ <SupportPoint posX="7811.92" posY="1456.37"/>
+ <SupportPoint posX="7829.94" posY="1528.05"/>
+ <SupportPoint posX="7837.86" posY="1575.97"/>
</SupportPoints>
</Transition>
<Transition from="GoToTargetPose" to="PrePutDownLadder" eventName="Success">
@@ -410,10 +401,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2849.03" posY="2483.79"/>
- <SupportPoint posX="2892.61" posY="2475.87"/>
- <SupportPoint posX="2945.38" posY="2466.31"/>
- <SupportPoint posX="2985.63" posY="2459"/>
+ <SupportPoint posX="2782.97" posY="1675.72"/>
+ <SupportPoint posX="2831.78" posY="1795.8"/>
+ <SupportPoint posX="2975.15" posY="2148.08"/>
+ <SupportPoint posX="3028.05" posY="2278.36"/>
</SupportPoints>
</Transition>
<Transition from="PutDownLadder" to="Failure" eventName="Failure">
@@ -421,25 +412,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3347.37" posY="2377.99"/>
- <SupportPoint posX="3397.58" posY="2383.23"/>
- <SupportPoint posX="3477.32" posY="2390.17"/>
- <SupportPoint posX="3546.44" posY="2390.17"/>
- <SupportPoint posX="3546.44" posY="2390.17"/>
- <SupportPoint posX="3546.44" posY="2390.17"/>
- <SupportPoint posX="5649.03" posY="2390.17"/>
- <SupportPoint posX="5877.88" posY="2390.17"/>
- <SupportPoint posX="5933.84" posY="2424.67"/>
- <SupportPoint posX="6162.69" posY="2424.67"/>
- <SupportPoint posX="6162.69" posY="2424.67"/>
- <SupportPoint posX="6162.69" posY="2424.67"/>
- <SupportPoint posX="8347.06" posY="2424.67"/>
- <SupportPoint posX="8431.26" posY="2424.67"/>
- <SupportPoint posX="8472.66" posY="2422.83"/>
- <SupportPoint posX="8523.39" posY="2355.67"/>
- <SupportPoint posX="8566.07" posY="2299.11"/>
- <SupportPoint posX="8588.3" posY="1806.87"/>
- <SupportPoint posX="8594.43" posY="1646.01"/>
+ <SupportPoint posX="3347.49" posY="2340.29"/>
+ <SupportPoint posX="3397.58" posY="2351.87"/>
+ <SupportPoint posX="3476.81" posY="2367.15"/>
+ <SupportPoint posX="3546.44" posY="2367.15"/>
+ <SupportPoint posX="3546.44" posY="2367.15"/>
+ <SupportPoint posX="3546.44" posY="2367.15"/>
+ <SupportPoint posX="4212.81" posY="2367.15"/>
+ <SupportPoint posX="4961.97" posY="2367.15"/>
+ <SupportPoint posX="5147.76" posY="2436.15"/>
+ <SupportPoint posX="5896.92" posY="2436.15"/>
+ <SupportPoint posX="5896.92" posY="2436.15"/>
+ <SupportPoint posX="5896.92" posY="2436.15"/>
+ <SupportPoint posX="7561.86" posY="2436.15"/>
+ <SupportPoint posX="7659.87" posY="2436.15"/>
+ <SupportPoint posX="7709.83" posY="2442.52"/>
+ <SupportPoint posX="7770.78" posY="2365.88"/>
+ <SupportPoint posX="7813.58" posY="2312.03"/>
+ <SupportPoint posX="7835.69" posY="1834.37"/>
+ <SupportPoint posX="7841.82" posY="1676.46"/>
</SupportPoints>
</Transition>
<Transition from="PutDownLadder" to="OpenLeftHand" eventName="Success">
@@ -447,10 +438,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3347.75" posY="2355.99"/>
- <SupportPoint posX="3386.98" posY="2343.29"/>
- <SupportPoint posX="3441.79" posY="2325.59"/>
- <SupportPoint posX="3483.83" posY="2311.99"/>
+ <SupportPoint posX="3347.75" posY="2315.65"/>
+ <SupportPoint posX="3386.98" posY="2306.37"/>
+ <SupportPoint posX="3441.79" posY="2293.45"/>
+ <SupportPoint posX="3483.83" posY="2283.51"/>
</SupportPoints>
</Transition>
<Transition from="OpenLadder" to="Failure" eventName="Failure">
@@ -458,25 +449,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3845.7" posY="2227.21"/>
- <SupportPoint posX="3895.92" posY="2232.45"/>
- <SupportPoint posX="3975.65" posY="2239.39"/>
- <SupportPoint posX="4044.78" posY="2239.39"/>
- <SupportPoint posX="4044.78" posY="2239.39"/>
- <SupportPoint posX="4044.78" posY="2239.39"/>
- <SupportPoint posX="5900.75" posY="2239.39"/>
- <SupportPoint posX="6392.82" posY="2239.39"/>
- <SupportPoint posX="6515.23" posY="2273.89"/>
- <SupportPoint posX="7007.31" posY="2273.89"/>
- <SupportPoint posX="7007.31" posY="2273.89"/>
- <SupportPoint posX="7007.31" posY="2273.89"/>
- <SupportPoint posX="8347.06" posY="2273.89"/>
- <SupportPoint posX="8431.26" posY="2273.89"/>
- <SupportPoint posX="8471.89" posY="2271.46"/>
- <SupportPoint posX="8523.39" posY="2204.89"/>
- <SupportPoint posX="8557.38" posY="2160.88"/>
- <SupportPoint posX="8584.34" posY="1783.21"/>
- <SupportPoint posX="8593.16" posY="1645.43"/>
+ <SupportPoint posX="3845.57" posY="2201.37"/>
+ <SupportPoint posX="4110.58" posY="2216.45"/>
+ <SupportPoint posX="5378.78" posY="2285.38"/>
+ <SupportPoint posX="6416.97" posY="2285.38"/>
+ <SupportPoint posX="6416.97" posY="2285.38"/>
+ <SupportPoint posX="6416.97" posY="2285.38"/>
+ <SupportPoint posX="7561.86" posY="2285.38"/>
+ <SupportPoint posX="7660.38" posY="2285.38"/>
+ <SupportPoint posX="7709.06" posY="2288.06"/>
+ <SupportPoint posX="7770.78" posY="2211.26"/>
+ <SupportPoint posX="7804" posY="2169.83"/>
+ <SupportPoint posX="7831.22" posY="1810.67"/>
+ <SupportPoint posX="7840.42" posY="1676.4"/>
</SupportPoints>
</Transition>
<Transition from="OpenLadder" to="Wait" eventName="Success">
@@ -486,10 +471,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3814.39" posY="2184.43"/>
- <SupportPoint posX="3858.73" posY="2096.66"/>
- <SupportPoint posX="3970.03" posY="1876.17"/>
- <SupportPoint posX="4019.99" posY="1777.42"/>
+ <SupportPoint posX="3820.4" posY="2161.23"/>
+ <SupportPoint posX="3872.92" posY="2082.04"/>
+ <SupportPoint posX="3995.58" posY="1897.14"/>
+ <SupportPoint posX="4053.85" posY="1809.35"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative" to="OpenPlaceLadder" eventName="TargetReached">
@@ -501,10 +486,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4984.07" posY="2047.72"/>
- <SupportPoint posX="5044.51" posY="2047.72"/>
- <SupportPoint posX="5146.35" posY="2047.72"/>
- <SupportPoint posX="5212.16" posY="2047.72"/>
+ <SupportPoint posX="4980.24" posY="2050.26"/>
+ <SupportPoint posX="5040.68" posY="2050.26"/>
+ <SupportPoint posX="5142.52" posY="2050.26"/>
+ <SupportPoint posX="5208.32" posY="2050.26"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative" to="Failure" eventName="Timeout">
@@ -512,25 +497,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4984.33" posY="2076.46"/>
- <SupportPoint posX="5049.24" posY="2110.9"/>
- <SupportPoint posX="5167.05" posY="2164"/>
- <SupportPoint posX="5275.28" posY="2164"/>
- <SupportPoint posX="5275.28" posY="2164"/>
- <SupportPoint posX="5275.28" posY="2164"/>
- <SupportPoint posX="5900.75" posY="2164"/>
- <SupportPoint posX="6392.82" posY="2164"/>
- <SupportPoint posX="6515.23" posY="2198.5"/>
- <SupportPoint posX="7007.31" posY="2198.5"/>
- <SupportPoint posX="7007.31" posY="2198.5"/>
- <SupportPoint posX="7007.31" posY="2198.5"/>
- <SupportPoint posX="8347.06" posY="2198.5"/>
- <SupportPoint posX="8431.39" posY="2198.5"/>
- <SupportPoint posX="8471.38" posY="2194.68"/>
- <SupportPoint posX="8523.39" posY="2128.22"/>
- <SupportPoint posX="8552.91" posY="2090.48"/>
- <SupportPoint posX="8581.91" posY="1770.69"/>
- <SupportPoint posX="8592.26" posY="1645.43"/>
+ <SupportPoint posX="4977.94" posY="2079.93"/>
+ <SupportPoint posX="5042.08" posY="2116.96"/>
+ <SupportPoint posX="5161.04" posY="2175.49"/>
+ <SupportPoint posX="5271.44" posY="2175.49"/>
+ <SupportPoint posX="5271.44" posY="2175.49"/>
+ <SupportPoint posX="5271.44" posY="2175.49"/>
+ <SupportPoint posX="5769.78" posY="2175.49"/>
+ <SupportPoint posX="6188.89" posY="2175.49"/>
+ <SupportPoint posX="6293.03" posY="2209.99"/>
+ <SupportPoint posX="6712.14" posY="2209.99"/>
+ <SupportPoint posX="6712.14" posY="2209.99"/>
+ <SupportPoint posX="6712.14" posY="2209.99"/>
+ <SupportPoint posX="7561.86" posY="2209.99"/>
+ <SupportPoint posX="7661.4" posY="2209.99"/>
+ <SupportPoint posX="7708.68" posY="2207.27"/>
+ <SupportPoint posX="7770.78" posY="2129.49"/>
+ <SupportPoint posX="7826.11" posY="2060.15"/>
+ <SupportPoint posX="7839.39" posY="1789.75"/>
+ <SupportPoint posX="7842.59" posY="1676.44"/>
</SupportPoints>
</Transition>
<Transition from="Wait" to="MovePlatformRelative_3" eventName="Timeout">
@@ -543,10 +528,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4086.18" posY="1690.98"/>
- <SupportPoint posX="4138.06" posY="1644.29"/>
- <SupportPoint posX="4226.35" posY="1564.76"/>
- <SupportPoint posX="4278.74" posY="1517.57"/>
+ <SupportPoint posX="4126.56" posY="1724.33"/>
+ <SupportPoint posX="4173.45" posY="1681.65"/>
+ <SupportPoint posX="4249.99" posY="1611.96"/>
+ <SupportPoint posX="4297.65" posY="1568.68"/>
</SupportPoints>
</Transition>
<Transition from="IndependentBimanualDMPWithForceStop" to="Failure" eventName="Failure">
@@ -554,25 +539,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1712.32" posY="1256.39"/>
- <SupportPoint posX="1734.43" posY="1536.75"/>
- <SupportPoint posX="1835.88" posY="2708.33"/>
- <SupportPoint posX="1986.28" posY="2708.33"/>
- <SupportPoint posX="1986.28" posY="2708.33"/>
- <SupportPoint posX="1986.28" posY="2708.33"/>
- <SupportPoint posX="4809.53" posY="2708.33"/>
- <SupportPoint posX="5182.77" posY="2708.33"/>
- <SupportPoint posX="5275.79" posY="2726.22"/>
- <SupportPoint posX="5649.03" posY="2726.22"/>
- <SupportPoint posX="5649.03" posY="2726.22"/>
- <SupportPoint posX="5649.03" posY="2726.22"/>
- <SupportPoint posX="8347.06" posY="2726.22"/>
- <SupportPoint posX="8431.26" posY="2726.22"/>
- <SupportPoint posX="8473.56" posY="2725.07"/>
- <SupportPoint posX="8523.39" posY="2657.22"/>
- <SupportPoint posX="8583.7" posY="2575.04"/>
- <SupportPoint posX="8594.18" posY="1845.5"/>
- <SupportPoint posX="8595.84" posY="1645.76"/>
+ <SupportPoint posX="1786.94" posY="2567.5"/>
+ <SupportPoint posX="1842.4" posY="2579.85"/>
+ <SupportPoint posX="1918.43" posY="2593.32"/>
+ <SupportPoint posX="1986.28" posY="2593.32"/>
+ <SupportPoint posX="1986.28" posY="2593.32"/>
+ <SupportPoint posX="1986.28" posY="2593.32"/>
+ <SupportPoint posX="4212.81" posY="2593.32"/>
+ <SupportPoint posX="4850.16" posY="2593.32"/>
+ <SupportPoint posX="5007.84" posY="2662.32"/>
+ <SupportPoint posX="5645.19" posY="2662.32"/>
+ <SupportPoint posX="5645.19" posY="2662.32"/>
+ <SupportPoint posX="5645.19" posY="2662.32"/>
+ <SupportPoint posX="7561.86" posY="2662.32"/>
+ <SupportPoint posX="7659.61" posY="2662.32"/>
+ <SupportPoint posX="7710.59" posY="2670.36"/>
+ <SupportPoint posX="7770.78" posY="2593.32"/>
+ <SupportPoint posX="7827.51" posY="2520.74"/>
+ <SupportPoint posX="7840.42" posY="1865.78"/>
+ <SupportPoint posX="7843.1" posY="1676.85"/>
</SupportPoints>
</Transition>
<Transition from="IndependentBimanualDMPWithForceStop" to="CloseBothHands_2" eventName="Success">
@@ -595,10 +580,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1787.2" posY="1196.72"/>
- <SupportPoint posX="1830.26" posY="1196.72"/>
- <SupportPoint posX="1882.65" posY="1196.72"/>
- <SupportPoint posX="1922.9" posY="1196.72"/>
+ <SupportPoint posX="1756.28" posY="2487.89"/>
+ <SupportPoint posX="1809.43" posY="2422.79"/>
+ <SupportPoint posX="1893.77" posY="2319.42"/>
+ <SupportPoint posX="1944.24" posY="2257.65"/>
</SupportPoints>
</Transition>
<Transition from="OpenPlaceLadder" to="Failure" eventName="Failure">
@@ -606,25 +591,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="5325.49" posY="2060.88"/>
- <SupportPoint posX="5375.46" posY="2072.84"/>
- <SupportPoint posX="5454.81" posY="2088.61"/>
- <SupportPoint posX="5524.44" posY="2088.61"/>
- <SupportPoint posX="5524.44" posY="2088.61"/>
- <SupportPoint posX="5524.44" posY="2088.61"/>
- <SupportPoint posX="5900.75" posY="2088.61"/>
- <SupportPoint posX="6644.29" posY="2088.61"/>
- <SupportPoint posX="6829.82" posY="2123.11"/>
- <SupportPoint posX="7573.36" posY="2123.11"/>
- <SupportPoint posX="7573.36" posY="2123.11"/>
- <SupportPoint posX="7573.36" posY="2123.11"/>
- <SupportPoint posX="8347.06" posY="2123.11"/>
- <SupportPoint posX="8431.39" posY="2123.11"/>
- <SupportPoint posX="8470.74" posY="2118.72"/>
- <SupportPoint posX="8523.39" posY="2052.83"/>
- <SupportPoint posX="8573.09" posY="1990.64"/>
- <SupportPoint posX="8589.45" posY="1750.86"/>
- <SupportPoint posX="8594.31" posY="1645.5"/>
+ <SupportPoint posX="5321.41" posY="2066.3"/>
+ <SupportPoint posX="5371.37" posY="2080.87"/>
+ <SupportPoint posX="5450.46" posY="2100.1"/>
+ <SupportPoint posX="5520.61" posY="2100.1"/>
+ <SupportPoint posX="5520.61" posY="2100.1"/>
+ <SupportPoint posX="5520.61" posY="2100.1"/>
+ <SupportPoint posX="6158.86" posY="2100.1"/>
+ <SupportPoint posX="6405.22" posY="2100.1"/>
+ <SupportPoint posX="6465.78" posY="2134.6"/>
+ <SupportPoint posX="6712.14" posY="2134.6"/>
+ <SupportPoint posX="6712.14" posY="2134.6"/>
+ <SupportPoint posX="6712.14" posY="2134.6"/>
+ <SupportPoint posX="7561.86" posY="2134.6"/>
+ <SupportPoint posX="7665.23" posY="2134.6"/>
+ <SupportPoint posX="7708.55" posY="2114.88"/>
+ <SupportPoint posX="7770.78" posY="2032.38"/>
+ <SupportPoint posX="7812.69" posY="1976.84"/>
+ <SupportPoint posX="7832.88" posY="1771.89"/>
+ <SupportPoint posX="7840.29" posY="1676.05"/>
</SupportPoints>
</Transition>
<Transition from="OpenPlaceLadder" to="OpenBothHands_2" eventName="Success">
@@ -638,10 +623,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="5325.75" posY="2036.08"/>
- <SupportPoint posX="5364.98" posY="2027.01"/>
- <SupportPoint posX="5419.79" posY="2014.37"/>
- <SupportPoint posX="5461.83" posY="2004.66"/>
+ <SupportPoint posX="5321.92" posY="2040.44"/>
+ <SupportPoint posX="5361.14" posY="2032.77"/>
+ <SupportPoint posX="5415.96" posY="2022.1"/>
+ <SupportPoint posX="5458" posY="2013.9"/>
</SupportPoints>
</Transition>
<Transition from="AddObstacle" to="Failure" eventName="Failure">
@@ -649,13 +634,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7463.98" posY="305.728"/>
- <SupportPoint posX="7641.21" posY="236.217"/>
- <SupportPoint posX="8240.87" posY="33.0501"/>
- <SupportPoint posX="8523.39" posY="340.611"/>
- <SupportPoint posX="8564.79" posY="385.717"/>
- <SupportPoint posX="8589.58" posY="1316.96"/>
- <SupportPoint posX="8595.07" posY="1545.24"/>
+ <SupportPoint posX="6591.39" posY="306.367"/>
+ <SupportPoint posX="6789.19" posY="234.683"/>
+ <SupportPoint posX="7519.69" posY="4.17216"/>
+ <SupportPoint posX="7770.78" posY="403.222"/>
+ <SupportPoint posX="7802.47" posY="453.567"/>
+ <SupportPoint posX="7834.54" posY="1352.48"/>
+ <SupportPoint posX="7841.95" posY="1575.97"/>
</SupportPoints>
</Transition>
<Transition from="AddObstacle" to="GoToGoalPositionWithObstacleAvoidance_3" eventName="Success">
@@ -668,10 +653,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7463.6" posY="334.222"/>
- <SupportPoint posX="7509.73" posY="341.378"/>
- <SupportPoint posX="7579.75" posY="352.111"/>
- <SupportPoint posX="7637.51" posY="361.056"/>
+ <SupportPoint posX="6591.77" posY="343.55"/>
+ <SupportPoint posX="6599.18" posY="345.85"/>
+ <SupportPoint posX="6606.98" posY="347.894"/>
+ <SupportPoint posX="6614.39" posY="349.555"/>
+ <SupportPoint posX="6682.11" posY="364.505"/>
+ <SupportPoint posX="6759.8" posY="373.194"/>
+ <SupportPoint posX="6819.86" posY="378.05"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative_2" to="NavigationPose_3" eventName="TargetReached">
@@ -682,13 +670,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6591.64" posY="1764.38"/>
- <SupportPoint posX="6599.31" posY="1762.54"/>
- <SupportPoint posX="6606.98" posY="1760.67"/>
- <SupportPoint posX="6614.39" posY="1758.94"/>
- <SupportPoint posX="6684.79" posY="1742.44"/>
- <SupportPoint posX="6765.68" posY="1724.46"/>
- <SupportPoint posX="6820.11" posY="1712.51"/>
+ <SupportPoint posX="6591.39" posY="1819.04"/>
+ <SupportPoint posX="6659.75" posY="1812.11"/>
+ <SupportPoint posX="6782.42" posY="1799.68"/>
+ <SupportPoint posX="6856.91" posY="1792.13"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative_2" to="Failure" eventName="Timeout">
@@ -696,22 +681,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6591.77" posY="1779.29"/>
- <SupportPoint posX="6658.34" posY="1782.3"/>
- <SupportPoint posX="6779.35" posY="1787.06"/>
- <SupportPoint posX="6882.72" posY="1787.06"/>
- <SupportPoint posX="6882.72" posY="1787.06"/>
- <SupportPoint posX="6882.72" posY="1787.06"/>
- <SupportPoint posX="7256.47" posY="1787.06"/>
- <SupportPoint posX="7542.57" posY="1787.06"/>
- <SupportPoint posX="7613.1" posY="1821.56"/>
- <SupportPoint posX="7899.19" posY="1821.56"/>
- <SupportPoint posX="7899.19" posY="1821.56"/>
- <SupportPoint posX="7899.19" posY="1821.56"/>
- <SupportPoint posX="8347.06" posY="1821.56"/>
- <SupportPoint posX="8451.71" posY="1821.56"/>
- <SupportPoint posX="8531.95" posY="1710.68"/>
- <SupportPoint posX="8570.67" posY="1644.2"/>
+ <SupportPoint posX="6591.9" posY="1832.35"/>
+ <SupportPoint posX="6716.74" posY="1851.8"/>
+ <SupportPoint posX="7051.26" posY="1897.33"/>
+ <SupportPoint posX="7329.94" posY="1876.49"/>
+ <SupportPoint posX="7470.88" posY="1865.95"/>
+ <SupportPoint posX="7507.3" posY="1864.03"/>
+ <SupportPoint posX="7644.28" posY="1829.21"/>
+ <SupportPoint posX="7702.29" posY="1814.46"/>
+ <SupportPoint posX="7726.69" posY="1823.66"/>
+ <SupportPoint posX="7770.78" posY="1783.21"/>
+ <SupportPoint posX="7801.83" posY="1754.7"/>
+ <SupportPoint posX="7820.74" posY="1710.32"/>
+ <SupportPoint posX="7831.47" posY="1675.99"/>
</SupportPoints>
</Transition>
<Transition from="RemoveObstacle" to="Failure" eventName="Failure">
@@ -719,13 +701,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8110.79" posY="448.328"/>
- <SupportPoint posX="8207.78" posY="422.772"/>
- <SupportPoint posX="8421.29" posY="384.183"/>
- <SupportPoint posX="8523.39" posY="502.889"/>
- <SupportPoint posX="8557.76" posY="542.883"/>
- <SupportPoint posX="8587.28" posY="1336"/>
- <SupportPoint posX="8594.56" posY="1545.16"/>
+ <SupportPoint posX="7293.02" posY="464.044"/>
+ <SupportPoint posX="7411.47" posY="445.772"/>
+ <SupportPoint posX="7704.33" posY="408.461"/>
+ <SupportPoint posX="7770.78" posY="473.5"/>
+ <SupportPoint posX="7810.77" posY="512.6"/>
+ <SupportPoint posX="7836.33" posY="1358.74"/>
+ <SupportPoint posX="7842.33" posY="1575.71"/>
</SupportPoints>
</Transition>
<Transition from="RemoveObstacle" to="NavigationPose_2" eventName="Success">
@@ -733,10 +715,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8110.67" posY="475.544"/>
- <SupportPoint posX="8158.97" posY="487.3"/>
- <SupportPoint posX="8232.18" posY="505.317"/>
- <SupportPoint posX="8284.32" posY="518.222"/>
+ <SupportPoint posX="7293.27" posY="485.639"/>
+ <SupportPoint posX="7311.93" posY="490.494"/>
+ <SupportPoint posX="7333.39" posY="495.861"/>
+ <SupportPoint posX="7352.94" posY="500.333"/>
+ <SupportPoint posX="7401.76" posY="511.45"/>
+ <SupportPoint posX="7457.34" posY="522.567"/>
+ <SupportPoint posX="7498.87" posY="530.617"/>
</SupportPoints>
</Transition>
<Transition from="GoToGoalPositionWithObstacleAvoidance_3" to="Failure" eventName="Failure">
@@ -744,16 +729,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7824.44" posY="363.739"/>
- <SupportPoint posX="7952.09" posY="348.15"/>
- <SupportPoint posX="8196.66" posY="328.983"/>
- <SupportPoint posX="8396.89" posY="377.667"/>
- <SupportPoint posX="8458.35" posY="392.617"/>
- <SupportPoint posX="8488.76" posY="389.933"/>
- <SupportPoint posX="8523.39" posY="442.833"/>
- <SupportPoint posX="8584.34" posY="535.983"/>
- <SupportPoint posX="8594.31" posY="1335.23"/>
- <SupportPoint posX="8595.97" posY="1545.07"/>
+ <SupportPoint posX="7006.67" posY="373.45"/>
+ <SupportPoint posX="7204.34" posY="351.6"/>
+ <SupportPoint posX="7677.37" posY="312.755"/>
+ <SupportPoint posX="7770.78" posY="428.778"/>
+ <SupportPoint posX="7807.32" posY="474.139"/>
+ <SupportPoint posX="7835.56" posY="1354.4"/>
+ <SupportPoint posX="7842.21" posY="1575.84"/>
</SupportPoints>
</Transition>
<Transition from="GoToGoalPositionWithObstacleAvoidance_3" to="RemoveObstacle" eventName="Success">
@@ -763,13 +745,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7812.94" posY="420.089"/>
- <SupportPoint posX="7824.19" posY="425.456"/>
- <SupportPoint posX="7835.94" posY="430.183"/>
- <SupportPoint posX="7847.44" posY="433.889"/>
- <SupportPoint posX="7896.51" posY="449.606"/>
- <SupportPoint posX="7954.52" posY="456.889"/>
- <SupportPoint posX="7997.71" posY="460.339"/>
+ <SupportPoint posX="6990.31" posY="426.478"/>
+ <SupportPoint posX="7003.09" posY="432.739"/>
+ <SupportPoint posX="7016.51" posY="438.489"/>
+ <SupportPoint posX="7029.67" posY="442.833"/>
+ <SupportPoint posX="7078.86" posY="458.805"/>
+ <SupportPoint posX="7137.13" posY="466.089"/>
+ <SupportPoint posX="7180.32" posY="469.411"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose" to="Failure" eventName="Failure">
@@ -777,28 +759,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="652.597" posY="786.556"/>
- <SupportPoint posX="703.402" posY="786.556"/>
- <SupportPoint posX="784.247" posY="786.556"/>
- <SupportPoint posX="854.167" posY="786.556"/>
- <SupportPoint posX="854.167" posY="786.556"/>
- <SupportPoint posX="854.167" posY="786.556"/>
- <SupportPoint posX="4171.92" posY="786.556"/>
- <SupportPoint posX="5225.06" posY="786.556"/>
- <SupportPoint posX="5488.41" posY="794.222"/>
- <SupportPoint posX="6541.56" posY="794.222"/>
- <SupportPoint posX="6541.56" posY="794.222"/>
- <SupportPoint posX="6541.56" posY="794.222"/>
- <SupportPoint posX="7899.19" posY="794.222"/>
- <SupportPoint posX="8121.27" posY="794.222"/>
- <SupportPoint posX="8188.74" posY="760.233"/>
- <SupportPoint posX="8396.89" posY="837.667"/>
- <SupportPoint posX="8461.16" posY="861.561"/>
- <SupportPoint posX="8488.38" posY="866.928"/>
- <SupportPoint posX="8523.39" posY="925.833"/>
- <SupportPoint posX="8554.82" posY="978.861"/>
- <SupportPoint posX="8583.96" posY="1398.99"/>
- <SupportPoint posX="8593.16" posY="1545.34"/>
+ <SupportPoint posX="604.489" posY="1444.74"/>
+ <SupportPoint posX="618.481" posY="1658.96"/>
+ <SupportPoint posX="704.309" posY="2870.59"/>
+ <SupportPoint posX="854.167" posY="2870.59"/>
+ <SupportPoint posX="854.167" posY="2870.59"/>
+ <SupportPoint posX="854.167" posY="2870.59"/>
+ <SupportPoint posX="3940.64" posY="2870.59"/>
+ <SupportPoint posX="4194.02" posY="2870.59"/>
+ <SupportPoint posX="4257.14" posY="2888.48"/>
+ <SupportPoint posX="4510.53" posY="2888.48"/>
+ <SupportPoint posX="4510.53" posY="2888.48"/>
+ <SupportPoint posX="4510.53" posY="2888.48"/>
+ <SupportPoint posX="7561.86" posY="2888.48"/>
+ <SupportPoint posX="7659.61" posY="2888.48"/>
+ <SupportPoint posX="7711.11" posY="2896.95"/>
+ <SupportPoint posX="7770.78" posY="2819.48"/>
+ <SupportPoint posX="7806.17" posY="2773.53"/>
+ <SupportPoint posX="7835.31" posY="1897.62"/>
+ <SupportPoint posX="7842.08" posY="1676.43"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose" to="ResolveLadderPreLandmark" eventName="Success">
@@ -809,13 +788,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="631.603" posY="818.755"/>
- <SupportPoint posX="643.959" posY="830.383"/>
- <SupportPoint posX="659.216" posY="842.778"/>
- <SupportPoint posX="675.278" posY="850.444"/>
- <SupportPoint posX="710.442" posY="867.311"/>
- <SupportPoint posX="753.388" posY="875.361"/>
- <SupportPoint posX="788.387" posY="879.194"/>
+ <SupportPoint posX="652.776" posY="1412.67"/>
+ <SupportPoint posX="691.748" posY="1412.67"/>
+ <SupportPoint posX="746.041" posY="1412.67"/>
+ <SupportPoint posX="788.438" posY="1412.67"/>
</SupportPoints>
</Transition>
<Transition from="GoToPreGraspLandmark" to="Failure" eventName="Failure">
@@ -823,25 +799,31 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1229.99" posY="966.339"/>
- <SupportPoint posX="1286.71" posY="964.678"/>
- <SupportPoint posX="1362.34" posY="962.889"/>
- <SupportPoint posX="1429.17" posY="962.889"/>
- <SupportPoint posX="1429.17" posY="962.889"/>
- <SupportPoint posX="1429.17" posY="962.889"/>
- <SupportPoint posX="4514.36" posY="962.889"/>
- <SupportPoint posX="4776.82" posY="962.889"/>
- <SupportPoint posX="4842.24" posY="945"/>
- <SupportPoint posX="5104.69" posY="945"/>
- <SupportPoint posX="5104.69" posY="945"/>
- <SupportPoint posX="5104.69" posY="945"/>
- <SupportPoint posX="7899.19" posY="945"/>
- <SupportPoint posX="8184.27" posY="945"/>
- <SupportPoint posX="8375.29" posY="849.55"/>
- <SupportPoint posX="8523.39" posY="1093.22"/>
- <SupportPoint posX="8569.26" posY="1168.61"/>
- <SupportPoint posX="8587.92" posY="1433.62"/>
- <SupportPoint posX="8593.92" posY="1545.21"/>
+ <SupportPoint posX="1230.29" posY="2573.44"/>
+ <SupportPoint posX="1274.56" posY="2585.68"/>
+ <SupportPoint posX="1329.37" posY="2599.3"/>
+ <SupportPoint posX="1379.33" posY="2607.38"/>
+ <SupportPoint posX="1488.97" posY="2625.09"/>
+ <SupportPoint posX="1517.72" posY="2618.71"/>
+ <SupportPoint posX="1628.5" posY="2625.26"/>
+ <SupportPoint posX="2203.63" posY="2659.24"/>
+ <SupportPoint posX="2347.38" posY="2685.32"/>
+ <SupportPoint posX="2923.53" posY="2685.32"/>
+ <SupportPoint posX="2923.53" posY="2685.32"/>
+ <SupportPoint posX="2923.53" posY="2685.32"/>
+ <SupportPoint posX="4212.81" posY="2685.32"/>
+ <SupportPoint posX="4794.58" posY="2685.32"/>
+ <SupportPoint posX="4938.84" posY="2737.71"/>
+ <SupportPoint posX="5520.61" posY="2737.71"/>
+ <SupportPoint posX="5520.61" posY="2737.71"/>
+ <SupportPoint posX="5520.61" posY="2737.71"/>
+ <SupportPoint posX="7561.86" posY="2737.71"/>
+ <SupportPoint posX="7659.61" posY="2737.71"/>
+ <SupportPoint posX="7710.72" posY="2745.91"/>
+ <SupportPoint posX="7770.78" posY="2668.71"/>
+ <SupportPoint posX="7832.11" posY="2589.83"/>
+ <SupportPoint posX="7841.82" posY="1875.11"/>
+ <SupportPoint posX="7843.36" posY="1676.83"/>
</SupportPoints>
</Transition>
<Transition from="GoToPreGraspLandmark" to="CloseRightHand" eventName="Success">
@@ -852,13 +834,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1221.26" posY="1012.72"/>
- <SupportPoint posX="1231.72" posY="1017.83"/>
- <SupportPoint posX="1242.43" posY="1022.69"/>
- <SupportPoint posX="1252.83" posY="1026.78"/>
- <SupportPoint posX="1289.66" posY="1041.47"/>
- <SupportPoint posX="1332.44" posY="1053.61"/>
- <SupportPoint posX="1366.56" posY="1062.3"/>
+ <SupportPoint posX="1229.99" posY="2547.32"/>
+ <SupportPoint posX="1273.88" posY="2547.32"/>
+ <SupportPoint posX="1326.18" posY="2547.32"/>
+ <SupportPoint posX="1366.04" posY="2547.32"/>
</SupportPoints>
</Transition>
<Transition from="StopController" to="Failure" eventName="Failure">
@@ -866,19 +845,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6337.37" posY="1847.37"/>
- <SupportPoint posX="6535.55" posY="1858.25"/>
- <SupportPoint posX="7283.18" posY="1896.94"/>
- <SupportPoint posX="7899.19" posY="1896.94"/>
- <SupportPoint posX="7899.19" posY="1896.94"/>
- <SupportPoint posX="7899.19" posY="1896.94"/>
- <SupportPoint posX="8347.06" posY="1896.94"/>
- <SupportPoint posX="8434.2" posY="1896.94"/>
- <SupportPoint posX="8465.76" posY="1876.72"/>
- <SupportPoint posX="8523.39" posY="1811.33"/>
- <SupportPoint posX="8564.79" posY="1764.38"/>
- <SupportPoint posX="8582.81" posY="1693.04"/>
- <SupportPoint posX="8590.6" posY="1645.35"/>
+ <SupportPoint posX="6300.06" posY="1786.71"/>
+ <SupportPoint posX="6328.42" posY="1707.28"/>
+ <SupportPoint posX="6407.13" posY="1528.94"/>
+ <SupportPoint posX="6541.56" posY="1528.94"/>
+ <SupportPoint posX="6541.56" posY="1528.94"/>
+ <SupportPoint posX="6541.56" posY="1528.94"/>
+ <SupportPoint posX="7561.86" posY="1528.94"/>
+ <SupportPoint posX="7657.57" posY="1528.94"/>
+ <SupportPoint posX="7682.48" posY="1544.15"/>
+ <SupportPoint posX="7770.78" posY="1581.33"/>
+ <SupportPoint posX="7774.61" posY="1582.87"/>
+ <SupportPoint posX="7778.44" posY="1584.78"/>
+ <SupportPoint posX="7782.28" posY="1586.7"/>
</SupportPoints>
</Transition>
<Transition from="StopController" to="MovePlatformRelative_2" eventName="Success">
@@ -890,10 +869,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6337.49" posY="1831.18"/>
- <SupportPoint posX="6378.13" posY="1820.37"/>
- <SupportPoint posX="6435.37" posY="1805.11"/>
- <SupportPoint posX="6478.94" posY="1793.51"/>
+ <SupportPoint posX="6338.01" posY="1824.1"/>
+ <SupportPoint posX="6378.38" posY="1824.1"/>
+ <SupportPoint posX="6435.12" posY="1824.1"/>
+ <SupportPoint posX="6478.56" posY="1824.1"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose_2" to="Failure" eventName="Failure">
@@ -901,13 +880,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8397.02" posY="540.967"/>
- <SupportPoint posX="8438.16" posY="549.783"/>
- <SupportPoint posX="8494.26" posY="569.078"/>
- <SupportPoint posX="8523.39" posY="610.222"/>
- <SupportPoint posX="8577.82" posY="686.889"/>
- <SupportPoint posX="8592.39" posY="1354.78"/>
- <SupportPoint posX="8595.46" posY="1545.02"/>
+ <SupportPoint posX="7612.08" posY="526.783"/>
+ <SupportPoint posX="7659.48" posY="515.283"/>
+ <SupportPoint posX="7729.38" posY="508"/>
+ <SupportPoint posX="7770.78" posY="547.611"/>
+ <SupportPoint posX="7808.34" posY="583.644"/>
+ <SupportPoint posX="7835.56" posY="1367.31"/>
+ <SupportPoint posX="7842.08" posY="1575.58"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose_2" to="Success" eventName="Success">
@@ -915,10 +894,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8384.88" posY="501.356"/>
- <SupportPoint posX="8426.92" posY="465.578"/>
- <SupportPoint posX="8495.28" posY="407.439"/>
- <SupportPoint posX="8542.81" posY="366.933"/>
+ <SupportPoint posX="7607.99" posY="510.428"/>
+ <SupportPoint posX="7620" posY="501.611"/>
+ <SupportPoint posX="7632.78" posY="491.9"/>
+ <SupportPoint posX="7644.28" posY="482.444"/>
+ <SupportPoint posX="7655.14" posY="473.5"/>
+ <SupportPoint posX="7654.24" posY="465.961"/>
+ <SupportPoint posX="7667.28" posY="460.722"/>
+ <SupportPoint posX="7702.93" posY="446.283"/>
+ <SupportPoint posX="7745.99" posY="445.389"/>
+ <SupportPoint posX="7780.62" posY="448.2"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands" to="Failure" eventName="Failure">
@@ -926,22 +911,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4734.91" posY="1437.58"/>
- <SupportPoint posX="4782.82" posY="1401.93"/>
- <SupportPoint posX="4858.85" posY="1356.44"/>
- <SupportPoint posX="4934.11" posY="1356.44"/>
- <SupportPoint posX="4934.11" posY="1356.44"/>
- <SupportPoint posX="4934.11" posY="1356.44"/>
- <SupportPoint posX="5524.44" posY="1356.44"/>
- <SupportPoint posX="6690.29" posY="1356.44"/>
- <SupportPoint posX="6982.01" posY="1338.56"/>
- <SupportPoint posX="8147.72" posY="1360.28"/>
- <SupportPoint posX="8318.43" posY="1363.47"/>
- <SupportPoint posX="8407.24" posY="1315.68"/>
- <SupportPoint posX="8523.39" posY="1440.78"/>
- <SupportPoint posX="8551.12" posY="1470.68"/>
- <SupportPoint posX="8570.03" posY="1512.97"/>
- <SupportPoint posX="8581.66" posY="1545.73"/>
+ <SupportPoint posX="4731.33" posY="1516.68"/>
+ <SupportPoint posX="4781.29" posY="1504.28"/>
+ <SupportPoint posX="4860.51" posY="1488.06"/>
+ <SupportPoint posX="4930.28" posY="1488.06"/>
+ <SupportPoint posX="4930.28" posY="1488.06"/>
+ <SupportPoint posX="4930.28" posY="1488.06"/>
+ <SupportPoint posX="5896.92" posY="1488.06"/>
+ <SupportPoint posX="6259.55" posY="1488.06"/>
+ <SupportPoint posX="6349.51" posY="1453.56"/>
+ <SupportPoint posX="6712.14" posY="1453.56"/>
+ <SupportPoint posX="6712.14" posY="1453.56"/>
+ <SupportPoint posX="6712.14" posY="1453.56"/>
+ <SupportPoint posX="7561.86" posY="1453.56"/>
+ <SupportPoint posX="7661.4" posY="1453.56"/>
+ <SupportPoint posX="7690.66" posY="1475.02"/>
+ <SupportPoint posX="7770.78" posY="1534.06"/>
+ <SupportPoint posX="7787.01" posY="1546.07"/>
+ <SupportPoint posX="7801.57" posY="1562.55"/>
+ <SupportPoint posX="7813.46" posY="1578.27"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands" to="MovePlatformRelative" eventName="Success">
@@ -954,10 +942,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4703.22" posY="1520.89"/>
- <SupportPoint posX="4749.34" posY="1626.16"/>
- <SupportPoint posX="4869.84" posY="1901.06"/>
- <SupportPoint posX="4915.84" posY="2006.09"/>
+ <SupportPoint posX="4701.04" posY="1571.88"/>
+ <SupportPoint posX="4747.81" posY="1669.42"/>
+ <SupportPoint posX="4863.83" posY="1911.64"/>
+ <SupportPoint posX="4910.47" posY="2008.88"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative_3" to="CloseBothHands" eventName="TargetReached">
@@ -965,10 +953,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4371.63" posY="1479.11"/>
- <SupportPoint posX="4436.67" posY="1479.11"/>
- <SupportPoint posX="4550.52" posY="1479.11"/>
- <SupportPoint posX="4621.57" posY="1479.11"/>
+ <SupportPoint posX="4389.91" posY="1530.22"/>
+ <SupportPoint posX="4450.34" posY="1530.22"/>
+ <SupportPoint posX="4552.18" posY="1530.22"/>
+ <SupportPoint posX="4617.99" posY="1530.22"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformRelative_3" to="Failure" eventName="Timeout">
@@ -976,22 +964,28 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="4350.93" posY="1449.47"/>
- <SupportPoint posX="4409.33" posY="1394.27"/>
- <SupportPoint posX="4545.92" posY="1281.06"/>
- <SupportPoint posX="4684.94" posY="1281.06"/>
- <SupportPoint posX="4684.94" posY="1281.06"/>
- <SupportPoint posX="4684.94" posY="1281.06"/>
- <SupportPoint posX="5104.69" posY="1281.06"/>
- <SupportPoint posX="5836.35" posY="1281.06"/>
- <SupportPoint posX="7677.88" posY="1194.17"/>
- <SupportPoint posX="8396.89" posY="1329.61"/>
- <SupportPoint posX="8455.92" posY="1340.73"/>
- <SupportPoint posX="8481.73" posY="1333.7"/>
- <SupportPoint posX="8523.39" posY="1376.89"/>
- <SupportPoint posX="8567.73" posY="1422.76"/>
- <SupportPoint posX="8585.11" posY="1496.36"/>
- <SupportPoint posX="8591.88" posY="1545.22"/>
+ <SupportPoint posX="4383.52" posY="1500.71"/>
+ <SupportPoint posX="4392.97" posY="1495.08"/>
+ <SupportPoint posX="4402.94" posY="1489.72"/>
+ <SupportPoint posX="4412.78" posY="1485.5"/>
+ <SupportPoint posX="4526.24" posY="1436.43"/>
+ <SupportPoint posX="4557.55" posY="1412.67"/>
+ <SupportPoint posX="4681.11" posY="1412.67"/>
+ <SupportPoint posX="4681.11" posY="1412.67"/>
+ <SupportPoint posX="4681.11" posY="1412.67"/>
+ <SupportPoint posX="5100.86" posY="1412.67"/>
+ <SupportPoint posX="5817.18" posY="1412.67"/>
+ <SupportPoint posX="5995.82" posY="1378.17"/>
+ <SupportPoint posX="6712.14" posY="1378.17"/>
+ <SupportPoint posX="6712.14" posY="1378.17"/>
+ <SupportPoint posX="6712.14" posY="1378.17"/>
+ <SupportPoint posX="7561.86" posY="1378.17"/>
+ <SupportPoint posX="7664.21" posY="1378.17"/>
+ <SupportPoint posX="7697.82" posY="1403.34"/>
+ <SupportPoint posX="7770.78" posY="1475.28"/>
+ <SupportPoint posX="7799.14" posY="1503.13"/>
+ <SupportPoint posX="7817.93" posY="1544.28"/>
+ <SupportPoint posX="7829.43" posY="1576.61"/>
</SupportPoints>
</Transition>
<Transition from="OpenBothHands_2" to="Failure" eventName="Failure">
@@ -999,25 +993,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="5574.41" posY="1997.56"/>
- <SupportPoint posX="5624.62" posY="2004.29"/>
- <SupportPoint posX="5704.36" posY="2013.22"/>
- <SupportPoint posX="5773.61" posY="2013.22"/>
- <SupportPoint posX="5773.61" posY="2013.22"/>
- <SupportPoint posX="5773.61" posY="2013.22"/>
- <SupportPoint posX="6712.14" posY="2013.22"/>
- <SupportPoint posX="7095.22" posY="2013.22"/>
- <SupportPoint posX="7190.28" posY="2047.72"/>
- <SupportPoint posX="7573.36" posY="2047.72"/>
- <SupportPoint posX="7573.36" posY="2047.72"/>
- <SupportPoint posX="7573.36" posY="2047.72"/>
- <SupportPoint posX="8347.06" posY="2047.72"/>
- <SupportPoint posX="8431.64" posY="2047.72"/>
- <SupportPoint posX="8469.72" posY="2041.55"/>
- <SupportPoint posX="8523.39" posY="1976.17"/>
- <SupportPoint posX="8564.41" posY="1926.21"/>
- <SupportPoint posX="8584.85" posY="1736.89"/>
- <SupportPoint posX="8592.52" posY="1645.44"/>
+ <SupportPoint posX="5570.57" posY="2009.04"/>
+ <SupportPoint posX="5620.79" posY="2015.78"/>
+ <SupportPoint posX="5700.52" posY="2024.71"/>
+ <SupportPoint posX="5769.78" posY="2024.71"/>
+ <SupportPoint posX="5769.78" posY="2024.71"/>
+ <SupportPoint posX="5769.78" posY="2024.71"/>
+ <SupportPoint posX="6158.86" posY="2024.71"/>
+ <SupportPoint posX="6569.16" posY="2024.71"/>
+ <SupportPoint posX="6671.12" posY="2059.21"/>
+ <SupportPoint posX="7081.42" posY="2059.21"/>
+ <SupportPoint posX="7081.42" posY="2059.21"/>
+ <SupportPoint posX="7081.42" posY="2059.21"/>
+ <SupportPoint posX="7561.86" posY="2059.21"/>
+ <SupportPoint posX="7742.92" posY="2059.21"/>
+ <SupportPoint posX="7813.58" posY="1790.15"/>
+ <SupportPoint posX="7835.43" posY="1676.13"/>
</SupportPoints>
</Transition>
<Transition from="OpenBothHands_2" to="Wait_2" eventName="Success">
@@ -1029,10 +1020,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="5574.92" posY="1975.74"/>
- <SupportPoint posX="5614.14" posY="1964.45"/>
- <SupportPoint posX="5668.96" posY="1948.72"/>
- <SupportPoint posX="5711" posY="1936.63"/>
+ <SupportPoint posX="5571.08" posY="1987.22"/>
+ <SupportPoint posX="5610.31" posY="1975.94"/>
+ <SupportPoint posX="5665.13" posY="1960.21"/>
+ <SupportPoint posX="5707.17" posY="1948.11"/>
</SupportPoints>
</Transition>
<Transition from="Wait_2" to="MoveBackToNavigationPose" eventName="Timeout">
@@ -1046,10 +1037,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="5823.57" posY="1918.17"/>
- <SupportPoint posX="5863.69" posY="1917.79"/>
- <SupportPoint posX="5920.17" posY="1917.22"/>
- <SupportPoint posX="5964.51" posY="1916.79"/>
+ <SupportPoint posX="5819.74" posY="1929.66"/>
+ <SupportPoint posX="5859.86" posY="1929.26"/>
+ <SupportPoint posX="5916.34" posY="1928.71"/>
+ <SupportPoint posX="5960.68" posY="1928.26"/>
</SupportPoints>
</Transition>
<Transition from="CloseRightHand" to="Failure" eventName="Failure">
@@ -1057,25 +1048,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1479.26" posY="1065.49"/>
- <SupportPoint posX="1534.71" posY="1054.25"/>
- <SupportPoint posX="1627.22" posY="1038.28"/>
- <SupportPoint posX="1707.72" posY="1038.28"/>
- <SupportPoint posX="1707.72" posY="1038.28"/>
- <SupportPoint posX="1707.72" posY="1038.28"/>
- <SupportPoint posX="4514.36" posY="1038.28"/>
- <SupportPoint posX="4908.04" posY="1038.28"/>
- <SupportPoint posX="5006.18" posY="1020.39"/>
- <SupportPoint posX="5399.86" posY="1020.39"/>
- <SupportPoint posX="5399.86" posY="1020.39"/>
- <SupportPoint posX="5399.86" posY="1020.39"/>
- <SupportPoint posX="7899.19" posY="1020.39"/>
- <SupportPoint posX="8185.29" posY="1020.39"/>
- <SupportPoint posX="8371.33" posY="935.289"/>
- <SupportPoint posX="8523.39" posY="1177.56"/>
- <SupportPoint posX="8561.47" posY="1238.25"/>
- <SupportPoint posX="8583.7" posY="1448.06"/>
- <SupportPoint posX="8592.26" posY="1545.27"/>
+ <SupportPoint posX="1432.49" posY="2505.66"/>
+ <SupportPoint posX="1452.29" posY="2266.32"/>
+ <SupportPoint posX="1558.09" posY="1076.61"/>
+ <SupportPoint posX="1707.72" posY="1076.61"/>
+ <SupportPoint posX="1707.72" posY="1076.61"/>
+ <SupportPoint posX="1707.72" posY="1076.61"/>
+ <SupportPoint posX="7561.86" posY="1076.61"/>
+ <SupportPoint posX="7667.53" posY="1076.61"/>
+ <SupportPoint posX="7709.44" posY="1104.21"/>
+ <SupportPoint posX="7770.78" posY="1190.33"/>
+ <SupportPoint posX="7814.48" posY="1251.54"/>
+ <SupportPoint posX="7833.9" posY="1474.89"/>
+ <SupportPoint posX="7840.67" posY="1575.84"/>
</SupportPoints>
</Transition>
<Transition from="CloseRightHand" to="IndependentBimanualDMPWithForceStop" eventName="Success">
@@ -1096,10 +1081,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1479.26" posY="1098.21"/>
- <SupportPoint posX="1517.21" posY="1114.56"/>
- <SupportPoint posX="1570.49" posY="1137.56"/>
- <SupportPoint posX="1615.98" posY="1157.11"/>
+ <SupportPoint posX="1479.26" posY="2547.32"/>
+ <SupportPoint posX="1516.95" posY="2547.32"/>
+ <SupportPoint posX="1569.59" posY="2547.32"/>
+ <SupportPoint posX="1614.83" posY="2547.32"/>
</SupportPoints>
</Transition>
<Transition from="OpenLeftHand" to="Failure" eventName="Failure">
@@ -1107,25 +1092,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3596.41" posY="2299.11"/>
- <SupportPoint posX="3646.62" posY="2305.85"/>
- <SupportPoint posX="3726.36" posY="2314.78"/>
- <SupportPoint posX="3795.61" posY="2314.78"/>
- <SupportPoint posX="3795.61" posY="2314.78"/>
- <SupportPoint posX="3795.61" posY="2314.78"/>
- <SupportPoint posX="5649.03" posY="2314.78"/>
- <SupportPoint posX="6252.91" posY="2314.78"/>
- <SupportPoint posX="6403.43" posY="2349.28"/>
- <SupportPoint posX="7007.31" posY="2349.28"/>
- <SupportPoint posX="7007.31" posY="2349.28"/>
- <SupportPoint posX="7007.31" posY="2349.28"/>
- <SupportPoint posX="8347.06" posY="2349.28"/>
- <SupportPoint posX="8431.26" posY="2349.28"/>
- <SupportPoint posX="8472.28" posY="2347.18"/>
- <SupportPoint posX="8523.39" posY="2280.28"/>
- <SupportPoint posX="8561.72" posY="2230.04"/>
- <SupportPoint posX="8586.38" posY="1795.73"/>
- <SupportPoint posX="8593.79" posY="1645.94"/>
+ <SupportPoint posX="3596.41" posY="2276.1"/>
+ <SupportPoint posX="3646.62" posY="2282.83"/>
+ <SupportPoint posX="3726.36" posY="2291.76"/>
+ <SupportPoint posX="3795.61" posY="2291.76"/>
+ <SupportPoint posX="3795.61" posY="2291.76"/>
+ <SupportPoint posX="3795.61" posY="2291.76"/>
+ <SupportPoint posX="4339.94" posY="2291.76"/>
+ <SupportPoint posX="5032.63" posY="2291.76"/>
+ <SupportPoint posX="5204.23" posY="2360.76"/>
+ <SupportPoint posX="5896.92" posY="2360.76"/>
+ <SupportPoint posX="5896.92" posY="2360.76"/>
+ <SupportPoint posX="5896.92" posY="2360.76"/>
+ <SupportPoint posX="7561.86" posY="2360.76"/>
+ <SupportPoint posX="7659.99" posY="2360.76"/>
+ <SupportPoint posX="7709.44" posY="2365.82"/>
+ <SupportPoint posX="7770.78" posY="2289.21"/>
+ <SupportPoint posX="7808.98" posY="2241.52"/>
+ <SupportPoint posX="7833.64" posY="1822.26"/>
+ <SupportPoint posX="7841.18" posY="1676.07"/>
</SupportPoints>
</Transition>
<Transition from="OpenLeftHand" to="OpenLadder" eventName="Success">
@@ -1139,10 +1124,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3596.92" posY="2277.56"/>
- <SupportPoint posX="3636.14" posY="2266.47"/>
- <SupportPoint posX="3690.96" posY="2251.02"/>
- <SupportPoint posX="3733" posY="2239.15"/>
+ <SupportPoint posX="3596.92" posY="2254.54"/>
+ <SupportPoint posX="3636.14" posY="2243.45"/>
+ <SupportPoint posX="3690.96" posY="2228"/>
+ <SupportPoint posX="3733" posY="2216.12"/>
</SupportPoints>
</Transition>
<Transition from="PrePutDownLadder" to="Failure" eventName="Failure">
@@ -1150,25 +1135,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3098.2" posY="2453.38"/>
- <SupportPoint posX="3148.42" posY="2458.62"/>
- <SupportPoint posX="3228.15" posY="2465.56"/>
- <SupportPoint posX="3297.28" posY="2465.56"/>
- <SupportPoint posX="3297.28" posY="2465.56"/>
- <SupportPoint posX="3297.28" posY="2465.56"/>
- <SupportPoint posX="5399.86" posY="2465.56"/>
- <SupportPoint posX="5739.24" posY="2465.56"/>
- <SupportPoint posX="5823.32" posY="2500.06"/>
- <SupportPoint posX="6162.69" posY="2500.06"/>
- <SupportPoint posX="6162.69" posY="2500.06"/>
- <SupportPoint posX="6162.69" posY="2500.06"/>
- <SupportPoint posX="8347.06" posY="2500.06"/>
- <SupportPoint posX="8431.26" posY="2500.06"/>
- <SupportPoint posX="8472.92" posY="2498.43"/>
- <SupportPoint posX="8523.39" posY="2431.06"/>
- <SupportPoint posX="8570.54" posY="2368.11"/>
- <SupportPoint posX="8589.96" posY="1816.96"/>
- <SupportPoint posX="8594.94" posY="1645.84"/>
+ <SupportPoint posX="3096.16" posY="2364.88"/>
+ <SupportPoint posX="3144.2" posY="2398.46"/>
+ <SupportPoint posX="3221.76" posY="2442.54"/>
+ <SupportPoint posX="3297.28" posY="2442.54"/>
+ <SupportPoint posX="3297.28" posY="2442.54"/>
+ <SupportPoint posX="3297.28" posY="2442.54"/>
+ <SupportPoint posX="4212.81" posY="2442.54"/>
+ <SupportPoint posX="4850.16" posY="2442.54"/>
+ <SupportPoint posX="5007.84" posY="2511.54"/>
+ <SupportPoint posX="5645.19" posY="2511.54"/>
+ <SupportPoint posX="5645.19" posY="2511.54"/>
+ <SupportPoint posX="5645.19" posY="2511.54"/>
+ <SupportPoint posX="7561.86" posY="2511.54"/>
+ <SupportPoint posX="7659.87" posY="2511.54"/>
+ <SupportPoint posX="7710.08" posY="2518.19"/>
+ <SupportPoint posX="7770.78" posY="2441.26"/>
+ <SupportPoint posX="7818.18" posY="2381.11"/>
+ <SupportPoint posX="7837.48" posY="1843.76"/>
+ <SupportPoint posX="7842.33" posY="1675.9"/>
</SupportPoints>
</Transition>
<Transition from="PrePutDownLadder" to="PutDownLadder" eventName="Success">
@@ -1180,10 +1165,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3098.58" posY="2432.41"/>
- <SupportPoint posX="3137.81" posY="2420.51"/>
- <SupportPoint posX="3192.63" posY="2403.94"/>
- <SupportPoint posX="3234.67" posY="2391.2"/>
+ <SupportPoint posX="3098.58" posY="2327.54"/>
+ <SupportPoint posX="3137.68" posY="2327.54"/>
+ <SupportPoint posX="3192.12" posY="2327.54"/>
+ <SupportPoint posX="3234.16" posY="2327.54"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands_2" to="Failure" eventName="Failure">
@@ -1191,28 +1176,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2036.49" posY="1169.76"/>
- <SupportPoint posX="2043.91" posY="1166.44"/>
- <SupportPoint posX="2051.57" posY="1163.37"/>
- <SupportPoint posX="2059.11" posY="1160.94"/>
- <SupportPoint posX="2134.76" posY="1136.28"/>
- <SupportPoint posX="2155.84" posY="1130.28"/>
- <SupportPoint posX="2235.44" posY="1130.28"/>
- <SupportPoint posX="2235.44" posY="1130.28"/>
- <SupportPoint posX="2235.44" posY="1130.28"/>
- <SupportPoint posX="4809.53" posY="1130.28"/>
- <SupportPoint posX="5411.11" posY="1130.28"/>
- <SupportPoint posX="5561.12" posY="1095.78"/>
- <SupportPoint posX="6162.69" posY="1095.78"/>
- <SupportPoint posX="6162.69" posY="1095.78"/>
- <SupportPoint posX="6162.69" posY="1095.78"/>
- <SupportPoint posX="7899.19" posY="1095.78"/>
- <SupportPoint posX="8185.8" posY="1095.78"/>
- <SupportPoint posX="8359.58" posY="1022.82"/>
- <SupportPoint posX="8523.39" posY="1258.06"/>
- <SupportPoint posX="8555.46" posY="1304.06"/>
- <SupportPoint posX="8579.48" posY="1463.01"/>
- <SupportPoint posX="8590.22" posY="1545.21"/>
+ <SupportPoint posX="1987.04" posY="2164.5"/>
+ <SupportPoint posX="1991.64" posY="1969.01"/>
+ <SupportPoint posX="2023.59" posY="1152"/>
+ <SupportPoint posX="2235.44" posY="1152"/>
+ <SupportPoint posX="2235.44" posY="1152"/>
+ <SupportPoint posX="2235.44" posY="1152"/>
+ <SupportPoint posX="7561.86" posY="1152"/>
+ <SupportPoint posX="7667.28" posY="1152"/>
+ <SupportPoint posX="7708.04" posY="1179.73"/>
+ <SupportPoint posX="7770.78" posY="1264.44"/>
+ <SupportPoint posX="7806.94" posY="1313.26"/>
+ <SupportPoint posX="7829.56" posY="1488.31"/>
+ <SupportPoint posX="7838.76" posY="1575.71"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands_2" to="CreatCtrlAndLift" eventName="Success">
@@ -1237,10 +1213,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2036.75" posY="1202.47"/>
- <SupportPoint posX="2075.85" posY="1206.82"/>
- <SupportPoint posX="2130.28" posY="1212.95"/>
- <SupportPoint posX="2172.32" posY="1217.68"/>
+ <SupportPoint posX="2036.75" posY="2206.15"/>
+ <SupportPoint posX="2075.85" posY="2206.15"/>
+ <SupportPoint posX="2130.28" posY="2206.15"/>
+ <SupportPoint posX="2172.32" posY="2206.15"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLadderPreLandmark" to="Failure" eventName="Failure">
@@ -1248,19 +1224,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="906.837" posY="878.683"/>
- <SupportPoint posX="964.694" posY="874.85"/>
- <SupportPoint posX="1060.39" posY="869.611"/>
- <SupportPoint posX="1142.94" posY="869.611"/>
- <SupportPoint posX="1142.94" posY="869.611"/>
- <SupportPoint posX="1142.94" posY="869.611"/>
- <SupportPoint posX="7899.19" posY="869.611"/>
- <SupportPoint posX="8183.5" posY="869.611"/>
- <SupportPoint posX="8377.34" posY="766.239"/>
- <SupportPoint posX="8523.39" posY="1010.17"/>
- <SupportPoint posX="8577.31" posY="1100.12"/>
- <SupportPoint posX="8591.49" posY="1420.59"/>
- <SupportPoint posX="8595.07" posY="1545.3"/>
+ <SupportPoint posX="862.089" posY="1372.8"/>
+ <SupportPoint posX="885.166" posY="1269.56"/>
+ <SupportPoint posX="962.509" posY="1001.22"/>
+ <SupportPoint posX="1142.94" posY="1001.22"/>
+ <SupportPoint posX="1142.94" posY="1001.22"/>
+ <SupportPoint posX="1142.94" posY="1001.22"/>
+ <SupportPoint posX="7561.86" posY="1001.22"/>
+ <SupportPoint posX="7667.53" posY="1001.22"/>
+ <SupportPoint posX="7710.47" posY="1028.06"/>
+ <SupportPoint posX="7770.78" posY="1114.94"/>
+ <SupportPoint posX="7822.14" posY="1188.93"/>
+ <SupportPoint posX="7837.73" posY="1461.99"/>
+ <SupportPoint posX="7842.08" posY="1575.71"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLadderPreLandmark" to="GoToPreGraspLandmark" eventName="Success">
@@ -1271,13 +1247,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="906.952" posY="922.256"/>
- <SupportPoint posX="914.273" posY="926.472"/>
- <SupportPoint posX="921.927" posY="930.433"/>
- <SupportPoint posX="929.556" posY="933.5"/>
- <SupportPoint posX="965.269" posY="947.811"/>
- <SupportPoint posX="1006.57" posY="956.372"/>
- <SupportPoint posX="1043.25" posY="961.483"/>
+ <SupportPoint posX="864.274" posY="1452.41"/>
+ <SupportPoint posX="907.706" posY="1622.99"/>
+ <SupportPoint posX="1078.49" posY="2294.08"/>
+ <SupportPoint posX="1128.88" posY="2492.06"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformToLandmark" to="Failure" eventName="Failure">
@@ -1285,25 +1258,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1146.78" posY="2050.41"/>
- <SupportPoint posX="1167.24" posY="2182.99"/>
- <SupportPoint posX="1268.79" posY="2783.72"/>
- <SupportPoint posX="1429.17" posY="2783.72"/>
- <SupportPoint posX="1429.17" posY="2783.72"/>
- <SupportPoint posX="1429.17" posY="2783.72"/>
- <SupportPoint posX="4684.94" posY="2783.72"/>
- <SupportPoint posX="5113.51" posY="2783.72"/>
- <SupportPoint posX="5220.46" posY="2801.61"/>
- <SupportPoint posX="5649.03" posY="2801.61"/>
- <SupportPoint posX="5649.03" posY="2801.61"/>
- <SupportPoint posX="5649.03" posY="2801.61"/>
- <SupportPoint posX="8347.06" posY="2801.61"/>
- <SupportPoint posX="8431.26" posY="2801.61"/>
- <SupportPoint posX="8473.81" posY="2800.57"/>
- <SupportPoint posX="8523.39" posY="2732.61"/>
- <SupportPoint posX="8555.84" posY="2688.13"/>
- <SupportPoint posX="8587.02" posY="1860.26"/>
- <SupportPoint posX="8594.43" posY="1645.78"/>
+ <SupportPoint posX="1193.43" posY="2755.71"/>
+ <SupportPoint posX="1250.46" posY="2765.16"/>
+ <SupportPoint posX="1346.11" posY="2778.59"/>
+ <SupportPoint posX="1429.17" posY="2778.59"/>
+ <SupportPoint posX="1429.17" posY="2778.59"/>
+ <SupportPoint posX="1429.17" posY="2778.59"/>
+ <SupportPoint posX="3940.64" posY="2778.59"/>
+ <SupportPoint posX="4456.48" posY="2778.59"/>
+ <SupportPoint posX="4585.02" posY="2813.09"/>
+ <SupportPoint posX="5100.86" posY="2813.09"/>
+ <SupportPoint posX="5100.86" posY="2813.09"/>
+ <SupportPoint posX="5100.86" posY="2813.09"/>
+ <SupportPoint posX="7561.86" posY="2813.09"/>
+ <SupportPoint posX="7659.61" posY="2813.09"/>
+ <SupportPoint posX="7710.98" posY="2821.44"/>
+ <SupportPoint posX="7770.78" posY="2744.1"/>
+ <SupportPoint posX="7803.87" posY="2701.33"/>
+ <SupportPoint posX="7834.41" posY="1889.28"/>
+ <SupportPoint posX="7841.82" posY="1676.64"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformToLandmark" to="CloseRightHand" eventName="Success">
@@ -1314,10 +1287,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1150.75" posY="1998.87"/>
- <SupportPoint posX="1189.21" posY="1871.48"/>
- <SupportPoint posX="1358.89" posY="1309.42"/>
- <SupportPoint posX="1412.68" posY="1131.04"/>
+ <SupportPoint posX="1179.78" posY="2721"/>
+ <SupportPoint posX="1227.43" posY="2687.81"/>
+ <SupportPoint posX="1311.1" posY="2629.52"/>
+ <SupportPoint posX="1368.34" posY="2589.7"/>
</SupportPoints>
</Transition>
<Transition from="ResolveTargetLandmark" to="Failure" eventName="Failure">
@@ -1325,25 +1298,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2530.23" posY="2536.15"/>
- <SupportPoint posX="2583.51" posY="2575.85"/>
- <SupportPoint posX="2675.89" posY="2632.94"/>
- <SupportPoint posX="2766.36" posY="2632.94"/>
- <SupportPoint posX="2766.36" posY="2632.94"/>
- <SupportPoint posX="2766.36" posY="2632.94"/>
- <SupportPoint posX="5399.86" posY="2632.94"/>
- <SupportPoint posX="5622.58" posY="2632.94"/>
- <SupportPoint posX="5678.03" posY="2650.83"/>
- <SupportPoint posX="5900.75" posY="2650.83"/>
- <SupportPoint posX="5900.75" posY="2650.83"/>
- <SupportPoint posX="5900.75" posY="2650.83"/>
- <SupportPoint posX="8347.06" posY="2650.83"/>
- <SupportPoint posX="8431.26" posY="2650.83"/>
- <SupportPoint posX="8473.43" posY="2649.54"/>
- <SupportPoint posX="8523.39" posY="2581.83"/>
- <SupportPoint posX="8579.23" posY="2506.1"/>
- <SupportPoint posX="8592.9" posY="1836.61"/>
- <SupportPoint posX="8595.58" posY="1645.89"/>
+ <SupportPoint posX="2491.64" posY="1597.69"/>
+ <SupportPoint posX="2513.11" posY="1497.13"/>
+ <SupportPoint posX="2587.22" posY="1227.39"/>
+ <SupportPoint posX="2766.36" posY="1227.39"/>
+ <SupportPoint posX="2766.36" posY="1227.39"/>
+ <SupportPoint posX="2766.36" posY="1227.39"/>
+ <SupportPoint posX="7561.86" posY="1227.39"/>
+ <SupportPoint posX="7666.77" posY="1227.39"/>
+ <SupportPoint posX="7705.87" posY="1254.86"/>
+ <SupportPoint posX="7770.78" posY="1337.28"/>
+ <SupportPoint posX="7799.78" posY="1374.08"/>
+ <SupportPoint posX="7824.19" posY="1503.52"/>
+ <SupportPoint posX="7836.07" posY="1575.97"/>
</SupportPoints>
</Transition>
<Transition from="ResolveTargetLandmark" to="GoToTargetPose" eventName="Success">
@@ -1357,10 +1324,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2534.7" posY="2498.78"/>
- <SupportPoint posX="2572.27" posY="2498.78"/>
- <SupportPoint posX="2624.78" posY="2498.78"/>
- <SupportPoint posX="2670.4" posY="2498.78"/>
+ <SupportPoint posX="2534.7" posY="1634.99"/>
+ <SupportPoint posX="2572.27" posY="1634.99"/>
+ <SupportPoint posX="2624.78" posY="1634.99"/>
+ <SupportPoint posX="2670.4" posY="1634.99"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose_3" to="Failure" eventName="Failure">
@@ -1368,13 +1335,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6932.56" posY="1701.14"/>
- <SupportPoint posX="7133.81" posY="1709.23"/>
- <SupportPoint posX="7904.56" posY="1730.64"/>
- <SupportPoint posX="8523.39" posY="1617.11"/>
- <SupportPoint posX="8526.71" posY="1616.5"/>
- <SupportPoint posX="8530.16" posY="1615.78"/>
- <SupportPoint posX="8533.61" posY="1615"/>
+ <SupportPoint posX="6969.61" posY="1796.83"/>
+ <SupportPoint posX="7108.63" posY="1824.8"/>
+ <SupportPoint posX="7507.81" posY="1885.16"/>
+ <SupportPoint posX="7770.78" posY="1723.15"/>
+ <SupportPoint posX="7789.94" posY="1711.33"/>
+ <SupportPoint posX="7805.79" posY="1692.47"/>
+ <SupportPoint posX="7817.8" posY="1674.5"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose_3" to="ResolveLandmark" eventName="Success">
@@ -1385,10 +1352,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="6933.19" posY="1682.34"/>
- <SupportPoint posX="6972.42" posY="1669.44"/>
- <SupportPoint posX="7027.24" posY="1651.46"/>
- <SupportPoint posX="7069.28" posY="1637.65"/>
+ <SupportPoint posX="6969.99" posY="1773.27"/>
+ <SupportPoint posX="7026.6" posY="1759.17"/>
+ <SupportPoint posX="7118.73" posY="1736.21"/>
+ <SupportPoint posX="7180.19" posY="1720.92"/>
</SupportPoints>
</Transition>
<Transition from="MoveToAfterFinished" to="Failure" eventName="Failure">
@@ -1396,13 +1363,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8116.8" posY="583.005"/>
- <SupportPoint posX="8234.1" posY="609.328"/>
- <SupportPoint posX="8497.19" posY="671.428"/>
- <SupportPoint posX="8523.39" posY="703.5"/>
- <SupportPoint posX="8576.93" posY="768.794"/>
- <SupportPoint posX="8592.01" posY="1366.03"/>
- <SupportPoint posX="8595.46" posY="1544.98"/>
+ <SupportPoint posX="7299.02" posY="753.333"/>
+ <SupportPoint posX="7421.31" posY="751.928"/>
+ <SupportPoint posX="7706.76" posY="755.889"/>
+ <SupportPoint posX="7770.78" posY="822.333"/>
+ <SupportPoint posX="7823.04" posY="876.639"/>
+ <SupportPoint posX="7838.88" posY="1407.56"/>
+ <SupportPoint posX="7842.59" posY="1575.46"/>
</SupportPoints>
</Transition>
<Transition from="MoveToAfterFinished" to="NavigationPose_2" eventName="Success">
@@ -1410,13 +1377,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8116.8" posY="574.444"/>
- <SupportPoint posX="8160.24" posY="576.233"/>
- <SupportPoint posX="8221.71" posY="575.594"/>
- <SupportPoint posX="8274.22" posY="564.222"/>
- <SupportPoint posX="8277.67" posY="563.456"/>
- <SupportPoint posX="8281.12" posY="562.561"/>
- <SupportPoint posX="8284.57" posY="561.539"/>
+ <SupportPoint posX="7298.77" posY="739.022"/>
+ <SupportPoint posX="7345.92" posY="723.561"/>
+ <SupportPoint posX="7412.49" posY="695.45"/>
+ <SupportPoint posX="7456.44" posY="651.111"/>
+ <SupportPoint posX="7473.31" posY="634.117"/>
+ <SupportPoint posX="7464.24" posY="620.955"/>
+ <SupportPoint posX="7479.44" posY="602.555"/>
+ <SupportPoint posX="7485.83" posY="594.761"/>
+ <SupportPoint posX="7493.5" posY="587.478"/>
+ <SupportPoint posX="7501.55" posY="580.833"/>
</SupportPoints>
</Transition>
<Transition from="MoveJoints" to="NavigationPose" eventName="EvJointTargetReached">
@@ -1424,13 +1394,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="214.281" posY="751.289"/>
- <SupportPoint posX="221.82" posY="753.589"/>
- <SupportPoint posX="229.551" posY="755.633"/>
- <SupportPoint posX="237" posY="757.167"/>
- <SupportPoint posX="341.509" posY="778.505"/>
- <SupportPoint posX="465.786" posY="784.511"/>
- <SupportPoint posX="539.169" posY="786.044"/>
+ <SupportPoint posX="214.013" posY="1180.49"/>
+ <SupportPoint posX="294.641" posY="1228.67"/>
+ <SupportPoint posX="453.443" posY="1323.61"/>
+ <SupportPoint posX="540.958" posY="1375.87"/>
</SupportPoints>
</Transition>
<Transition from="MoveJoints" to="Failure" eventName="EvTimeout">
@@ -1438,28 +1405,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="214.153" posY="721.389"/>
- <SupportPoint posX="221.782" posY="719.983"/>
- <SupportPoint posX="229.576" posY="718.578"/>
- <SupportPoint posX="237" posY="717.556"/>
- <SupportPoint posX="398.256" posY="695.322"/>
- <SupportPoint posX="439.668" posY="693.278"/>
- <SupportPoint posX="602.444" posY="693.278"/>
- <SupportPoint posX="602.444" posY="693.278"/>
- <SupportPoint posX="602.444" posY="693.278"/>
- <SupportPoint posX="4171.92" posY="693.278"/>
- <SupportPoint posX="5225.19" posY="693.278"/>
- <SupportPoint posX="5488.28" posY="718.833"/>
- <SupportPoint posX="6541.56" posY="718.833"/>
- <SupportPoint posX="6541.56" posY="718.833"/>
- <SupportPoint posX="6541.56" posY="718.833"/>
- <SupportPoint posX="7899.19" posY="718.833"/>
- <SupportPoint posX="8041.28" posY="718.833"/>
- <SupportPoint posX="8443.02" posY="740.939"/>
- <SupportPoint posX="8523.39" posY="858.111"/>
- <SupportPoint posX="8562.11" posY="914.717"/>
- <SupportPoint posX="8586.89" posY="1388.77"/>
- <SupportPoint posX="8594.05" posY="1545.38"/>
+ <SupportPoint posX="204.136" posY="1113.54"/>
+ <SupportPoint posX="277.237" posY="1049.65"/>
+ <SupportPoint posX="439.949" posY="925.833"/>
+ <SupportPoint posX="602.444" posY="925.833"/>
+ <SupportPoint posX="602.444" posY="925.833"/>
+ <SupportPoint posX="602.444" posY="925.833"/>
+ <SupportPoint posX="7561.86" posY="925.833"/>
+ <SupportPoint posX="7667.53" posY="925.833"/>
+ <SupportPoint posX="7711.23" posY="952.155"/>
+ <SupportPoint posX="7770.78" posY="1039.56"/>
+ <SupportPoint posX="7800.81" posY="1083.51"/>
+ <SupportPoint posX="7830.07" posY="1441.93"/>
+ <SupportPoint posX="7840.03" posY="1575.84"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLandmark" to="Failure" eventName="Failure">
@@ -1467,13 +1425,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7181.85" posY="1618.26"/>
- <SupportPoint posX="7362.66" posY="1622.07"/>
- <SupportPoint posX="7999.37" posY="1632.33"/>
- <SupportPoint posX="8523.39" posY="1601.78"/>
- <SupportPoint posX="8526.58" posY="1601.59"/>
- <SupportPoint posX="8529.91" posY="1601.38"/>
- <SupportPoint posX="8533.23" posY="1601.15"/>
+ <SupportPoint posX="7293.27" posY="1715.35"/>
+ <SupportPoint posX="7369.94" posY="1728.95"/>
+ <SupportPoint posX="7520.46" posY="1748.47"/>
+ <SupportPoint posX="7644.28" posY="1720.6"/>
+ <SupportPoint posX="7693.09" posY="1709.61"/>
+ <SupportPoint posX="7743.94" posY="1685.25"/>
+ <SupportPoint posX="7782.02" posY="1664.02"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLandmark" to="GoToGoalPositionWithObstacleAvoidance" eventName="Success">
@@ -1484,10 +1442,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7181.98" posY="1605.99"/>
- <SupportPoint posX="7219.67" posY="1597.61"/>
- <SupportPoint posX="7272.57" posY="1585.86"/>
- <SupportPoint posX="7318.19" posY="1575.7"/>
+ <SupportPoint posX="7293.27" posY="1692.79"/>
+ <SupportPoint posX="7339.53" posY="1681.29"/>
+ <SupportPoint posX="7409.55" posY="1663.9"/>
+ <SupportPoint posX="7466.41" posY="1649.75"/>
</SupportPoints>
</Transition>
<Transition from="GoToGoalPositionWithObstacleAvoidance" to="Failure" eventName="Failure">
@@ -1495,13 +1453,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7496.31" posY="1557.36"/>
- <SupportPoint posX="7720.05" posY="1565.09"/>
- <SupportPoint posX="8333.51" posY="1586.3"/>
- <SupportPoint posX="8532.72" posY="1593.19"/>
+ <SupportPoint posX="7644.53" posY="1626.04"/>
+ <SupportPoint posX="7687.98" posY="1626.04"/>
+ <SupportPoint posX="7740.37" posY="1626.04"/>
+ <SupportPoint posX="7780.62" posY="1626.04"/>
</SupportPoints>
</Transition>
- <Transition from="GoToGoalPositionWithObstacleAvoidance" to="ResolveLandmark_2" eventName="Success">
+ <Transition from="GoToGoalPositionWithObstacleAvoidance" to="Success" eventName="Success">
<ParameterMappings>
<ParameterMapping sourceType="Parent" from="LandmarkAfterFinished" to="LandmarkName"/>
<ParameterMapping sourceType="Parent" from="GraphName" to="SceneName"/>
@@ -1509,10 +1467,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7496.18" posY="1532.02"/>
- <SupportPoint posX="7551.89" posY="1516.93"/>
- <SupportPoint posX="7624.09" posY="1497.26"/>
- <SupportPoint posX="7674.94" posY="1483.33"/>
+ <SupportPoint posX="7571.7" posY="1585.55"/>
+ <SupportPoint posX="7614.38" posY="1408.45"/>
+ <SupportPoint posX="7784.45" posY="703.5"/>
+ <SupportPoint posX="7831.47" posY="508.383"/>
</SupportPoints>
</Transition>
<Transition from="GoToGoalPositionWithObstacleAvoidance_2" to="Failure" eventName="Failure">
@@ -1520,13 +1478,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8148.11" posY="1401.42"/>
- <SupportPoint posX="8246.75" posY="1402.96"/>
- <SupportPoint posX="8408.64" posY="1417.91"/>
- <SupportPoint posX="8523.39" posY="1491.89"/>
- <SupportPoint posX="8544.09" posY="1505.18"/>
- <SupportPoint posX="8560.57" posY="1526.71"/>
- <SupportPoint posX="8572.58" posY="1546.65"/>
+ <SupportPoint posX="7329.94" posY="630.922"/>
+ <SupportPoint posX="7453.25" posY="624.15"/>
+ <SupportPoint posX="7674.56" posY="633.733"/>
+ <SupportPoint posX="7770.78" posY="773.778"/>
+ <SupportPoint posX="7816.27" posY="839.839"/>
+ <SupportPoint posX="7836.84" posY="1401.93"/>
+ <SupportPoint posX="7842.21" posY="1575.33"/>
</SupportPoints>
</Transition>
<Transition from="GoToGoalPositionWithObstacleAvoidance_2" to="NavigationPose_2" eventName="Success">
@@ -1534,13 +1492,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="8064.41" posY="1378.42"/>
- <SupportPoint posX="8079.49" posY="1275.56"/>
- <SupportPoint posX="8145.29" posY="879.578"/>
- <SupportPoint posX="8297.22" posY="593.611"/>
- <SupportPoint posX="8300.29" posY="587.733"/>
- <SupportPoint posX="8303.99" posY="581.983"/>
- <SupportPoint posX="8308.08" posY="576.489"/>
+ <SupportPoint posX="7330.2" posY="613.033"/>
+ <SupportPoint posX="7383.61" posY="596.805"/>
+ <SupportPoint posX="7450.95" posY="576.233"/>
+ <SupportPoint posX="7499.12" posY="561.539"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLandmark_2" to="Failure" eventName="Failure">
@@ -1548,13 +1503,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7787.52" posY="1468.63"/>
- <SupportPoint posX="7912.99" posY="1475.15"/>
- <SupportPoint posX="8251.09" posY="1498.28"/>
- <SupportPoint posX="8523.39" posY="1567.28"/>
- <SupportPoint posX="8526.84" posY="1568.17"/>
- <SupportPoint posX="8530.42" posY="1569.18"/>
- <SupportPoint posX="8533.99" posY="1570.27"/>
+ <SupportPoint posX="6970.12" posY="779.016"/>
+ <SupportPoint posX="7150.93" posY="802.655"/>
+ <SupportPoint posX="7756.72" posY="883.028"/>
+ <SupportPoint posX="7770.78" posY="897.722"/>
+ <SupportPoint posX="7817.54" posY="946.661"/>
+ <SupportPoint posX="7836.97" posY="1419.57"/>
+ <SupportPoint posX="7842.08" posY="1576.09"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLandmark_2" to="GoToGoalPositionWithObstacleAvoidance_2" eventName="Success">
@@ -1565,10 +1520,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="7787.77" posY="1456.62"/>
- <SupportPoint posX="7833.77" posY="1447.68"/>
- <SupportPoint posX="7903.41" posY="1434.26"/>
- <SupportPoint posX="7960.91" posY="1423.02"/>
+ <SupportPoint posX="6969.99" posY="751.928"/>
+ <SupportPoint posX="7016.25" posY="732.889"/>
+ <SupportPoint posX="7086.27" posY="704.011"/>
+ <SupportPoint posX="7143.77" posY="680.372"/>
</SupportPoints>
</Transition>
</Transitions>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/Armar6BoardSupportDemo.scgxml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/Armar6BoardSupportDemo.scgxml
index c09288f4f77e9d351707061e51d1990c596966b0..e148ed215582fdc30235b608c36f55f75464cfa0 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/Armar6BoardSupportDemo.scgxml
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/Armar6BoardSupportDemo.scgxml
@@ -142,6 +142,7 @@ ArmarX.Armar6BoardSupportDemoRemoteStateOfferer.OpenPoseEstimationName = OpenPos
<State filename="GoToGuardLowering.xml" visibility="public"/>
<State filename="GoToPickUp.xml"/>
<State filename="GuardCarrying.xml"/>
+ <State filename="GuardCarryingSkill.xml" visibility="public"/>
<State filename="GuardCarryingWithFailureDetection.xml"/>
<State filename="GuardCarryingWithObstacleAvoidance.xml"/>
<State filename="GuardInHandManipulate.xml"/>
@@ -163,6 +164,7 @@ ArmarX.Armar6BoardSupportDemoRemoteStateOfferer.OpenPoseEstimationName = OpenPos
<State filename="RemoveGuardV2.xml" visibility="public"/>
<State filename="RotateBoard.xml"/>
<State filename="TestBimanualCCDMP.xml"/>
+ <State filename="testGuardCarryingSkill.xml" visibility="public"/>
<State filename="TestGuardDemo.xml"/>
<State filename="TestGuardLocalization.xml"/>
<State filename="TestRegrasping.xml"/>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CMakeLists.txt b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CMakeLists.txt
index a77f3ce9c7f96015bb43e8413980bd2e24c64e17..d8996019471aa2bad65ff9202343b118d31115cc 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CMakeLists.txt
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CMakeLists.txt
@@ -8,11 +8,17 @@ armarx_add_statechart_group(Armar6BoardSupportDemo
ArmarXCoreStatechart
ArmarXCoreObservers
RobotAPICore
+ RobotAPISkillsCore
+ RobotAPISkills
RobotComponentsInterfaces
ArViz
MemoryXCore
MemoryXMemoryTypes
armarx_control::deprecated_njoint_mp_controller_interface
+ armarx_control::skills_platform_follower_controller
+ armarx_control::platform_follower_aron
+ armarx_navigation::skills_aron
+ armarx_navigation::skills
armar6_rt::interfaces
armar6_skills::interfaces
devices_ethercat::hand_armar6_v2_interfaces
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CarryAndRegrasp.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CarryAndRegrasp.xml
index 25842ee7a02bbd1582b61f11c079e9c2cb091302..9dcfbc6e7f313f195ab504f766f38fb2873cecc2 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CarryAndRegrasp.xml
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/CarryAndRegrasp.xml
@@ -28,8 +28,12 @@
<DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::DoubleVariantData","value":2}}' docValue="2"/>
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::DoubleVariantData","value":1}}' docValue="1"/>
</Parameter>
- <Parameter name="DesiredNullspaceAngleLeft" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" docType="List(float)" optional="yes"/>
- <Parameter name="DesiredNullspaceAngleRight" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" docType="List(float)" optional="yes"/>
+ <Parameter name="DesiredNullspaceAngleLeft" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" docType="List(float)" optional="yes">
+ <DefaultValue profile="Armar6Real" value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.157}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.076}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.542}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.511}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1.681}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.589}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.379}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.149}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="0.157000005245209\n-0.0759999975562096\n0.541999995708466\n0.510999977588654\n1.68099999427795\n-0.58899998664856\n0.379000008106232\n0.149000003933907"/>
+ </Parameter>
+ <Parameter name="DesiredNullspaceAngleRight" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" docType="List(float)" optional="yes">
+ <DefaultValue profile="Armar6Real" value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.095}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.0781}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.4866}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.407}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1.6170}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.5255}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.349}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.0389}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="-0.0949999988079071\n0.0781000033020973\n0.486600011587143\n-0.407000005245209\n1.61699998378754\n0.525499999523163\n-0.349000006914139\n0.0388999991118908"/>
+ </Parameter>
<Parameter name="FailureRecoverAfterLoweringLeftOffset" type="::armarx::Vector3Base" docType="Vector3" optional="no">
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":-20.0,"z":0.0}}}' docValue="0\n-20\n0"/>
</Parameter>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.cpp b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6e3ecfd4a8416ac53b1fdf6f1a4d71f2e53ee9f3
--- /dev/null
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.cpp
@@ -0,0 +1,989 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package skills::Armar6BoardSupportDemo
+ * @author [Author Name] ( [Author Email] )
+ * @date 2024
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "GuardCarryingSkill.h"
+
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/libraries/armem_gui/MemoryViewer.h>
+#include <RobotAPI/libraries/skills/core/ProviderID.h>
+#include <RobotAPI/libraries/skills/core/SkillExecutionID.h>
+#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
+#include <ArmarXCore/core/time/Frequency.h>
+#include <ArmarXCore/core/time/Metronome.h>
+
+#include <armarx/control/skills/skills/platform_follower_controller/aron/FollowerParams.aron.generated.h>
+#include <armarx/control/njoint_controller/platform/platform_follower_controller/aron/PlatformFollowerControllerConfig.aron.generated.h>
+
+#include <armarx/navigation/skills/constants.h>
+#include <armarx/navigation/skills/aron/NavigateTo.aron.generated.h>
+
+#include <armar6/skills/statecharts/Armar6BoardSupportDemo/Armar6BoardSupportDemoStatechartContext.generated.h>
+
+///// copied
+#include <devices/ethercat/hand/armar6_v2/njoint_controller/ShapeInterface.h>
+
+#include <RobotAPI/libraries/core/math/MathUtils.h>
+#include <RobotAPI/libraries/core/PIDController.h>
+
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/MathTools.h>
+
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+#include <RobotAPI/components/DebugDrawer/DebugDrawerHelper.h>
+#include <RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.h>
+#include <RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.h>
+#include <RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
+
+#include "Helpers.h"
+
+
+namespace armarx::Armar6BoardSupportDemo
+{
+ // DO NOT EDIT NEXT LINE
+ GuardCarryingSkill::SubClassRegistry GuardCarryingSkill::Registry(GuardCarryingSkill::GetName(), &GuardCarryingSkill::CreateInstance);
+
+ float signedMinFunction(float newValue, float minAbsValue)
+ {
+ return std::copysign(std::min<float>(fabs(newValue), minAbsValue), newValue);
+ }
+
+ void GuardCarryingSkill::onEnter()
+ {
+ // put your user code for the enter-point here
+ // execution time should be short (<100ms)
+ }
+
+ void GuardCarryingSkill::run()
+ {
+ /// -------------------------------- adding skills -----------------------------------------
+ const std::string providerName = "bimanual_transport_skill_provider";
+ const std::string skillName = "Follower";
+ const armarx::skills::ProviderID providerId = {.providerName = providerName};
+
+ const armarx::skills::SkillID skillId{.providerId = providerId, .skillName = skillName};
+
+ auto followerParams = armarx::control::skills::skills::platform_follower_controller::arondto::FollowerParams();
+ followerParams.jointConfigFileName = "";
+
+ auto platformControlConfigParams = armarx::control::njoint_controller::platform::platform_follower_controller::arondto::Params();
+ platformControlConfigParams.dAngle = 0;
+ platformControlConfigParams.dPos = 0;
+ platformControlConfigParams.filterTimeConstant = 0;
+ platformControlConfigParams.kAngle = in.getPlatformKAngle();
+ platformControlConfigParams.kPos = in.getPlatformKPosition();
+ platformControlConfigParams.maxAngleVel = 1.25;
+ platformControlConfigParams.maxPosVel = 750;
+ platformControlConfigParams.minAngleTolerance = 0;
+ platformControlConfigParams.minPosTolerance = 0;
+ platformControlConfigParams.nodeSetNameLeft = "LeftArm";
+ platformControlConfigParams.nodeSetNameRight = "RightArm";
+
+ followerParams.platformControlConfig = platformControlConfigParams;
+
+ armarx::skills::SkillExecutionRequest skillExecutionRequest{
+ .skillId = skillId,
+ .executorName = "GuardCarryingSkillStatechart",
+ .parameters = followerParams.toAron()
+ };
+
+ ARMARX_CHECK(skillId.isFullySpecified()); // sanity check
+
+ armarx::skills::manager::dti::SkillManagerInterfacePrx skillMemory =
+ StateBase::getContext<armarx::Armar6BoardSupportDemo::Armar6BoardSupportDemoStatechartContext>()
+ ->getProxy<armarx::skills::manager::dti::SkillManagerInterfacePrx>("SkillMemory");
+
+ std::optional<armarx::skills::manager::dto::SkillExecutionID> skillExecutionId =
+ std::nullopt;
+ try
+ {
+ ARMARX_INFO << "Invoking control skill";
+ skillExecutionId = skillMemory->executeSkillAsync(skillExecutionRequest.toManagerIce());
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_ERROR << "Unhandeled Ice exception while executing skill '" << skillId.skillName
+ << "'. Aborting..."
+ << "Execution failed of skill " << skillId.skillName << e.what();
+ emitFailure();
+ return;
+ }
+ catch (...)
+ {
+ ARMARX_ERROR << "Unhandled error while executing skill '" << skillId.skillName
+ << "'. Aborting...";
+ emitFailure();
+ return;
+ }
+
+ /// ------------------------------- adding navigateTo skill --------------------------------
+
+ // prepare invoking navigateTo skill
+ // (skill ID)
+ const armarx::skills::SkillID navigateToSkillId{
+ .providerId = armarx::skills::ProviderID{
+ .providerName = armarx::navigation::skills::constants::NavigationSkillProviderName
+ },
+ .skillName = armarx::navigation::skills::constants::skill_names::NavigateTo
+ };
+ ARMARX_CHECK(navigateToSkillId.isFullySpecified());
+
+ auto navigateToSubskill = [&](
+ const Eigen::Vector3f& platformTargetPose
+ ){
+ /*
+ * convert platform target pose
+ */
+ Eigen::Vector3f targetPosition = Eigen::Vector3f{platformTargetPose(0), platformTargetPose(1), 0};
+ Eigen::Matrix3f targetOrientation = Eigen::AngleAxisf(platformTargetPose(2), Eigen::Vector3f::UnitZ()).matrix();
+ Eigen::Matrix4f targetPose = armarx::Pose(targetOrientation, targetPosition).toEigen();
+
+ /*
+ * (parameters)
+ */
+ auto navigateToParams = armarx::navigation::skills::arondto::NavigateToParams();
+ // converts from column major to row major
+ armarx::aron::eigen::toAron(navigateToParams.targetPose, targetPose);
+ navigateToParams.velocityLimitLinear = in.getRestrictMaxVelocity();
+ navigateToParams.velocityLimitAngular = in.getRestrictMaxAngularVelocity();
+
+ /*
+ * execution request
+ */
+ armarx::skills::SkillExecutionRequest navigateToSkillExecutionRequest{
+ .skillId = navigateToSkillId,
+ .executorName = "GuardCarryingSkillStatechart",
+ .parameters = navigateToParams.toAron()
+ };
+
+ /*
+ * invoke skill synchronously
+ */
+ armarx::skills::manager::dto::SkillStatusUpdate navigateToSkillStatusUpdate;
+ try
+ {
+ ARMARX_INFO << "Invoking navigateTo skill";
+ navigateToSkillStatusUpdate = skillMemory->executeSkill(
+ navigateToSkillExecutionRequest.toManagerIce()
+ );
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_ERROR << "Unhandeled Ice exception while executing skill "
+ << "'" << navigateToSkillId.skillName << "'. "
+ << "Aborting..."
+ << "Execution failed of skill " << navigateToSkillId.skillName << e.what();
+ emitFailure();
+ return;
+ }
+ catch (...)
+ {
+ ARMARX_ERROR << "Unhandled error while executing skill "
+ << "'" << navigateToSkillId.skillName << "'. "
+ << "Aborting...";
+ emitFailure();
+ return;
+ }
+ };
+
+ /// -------------------------------- adding polygon visualization --------------------------
+ getTextToSpeech()->reportText(in.getTextBeforeThreeSeconds());
+ viz::ScopedClient arviz(viz::Client::createFromTopic("GuardCarryingWithObstacleAvoidance", getArvizTopic()));
+
+ /// visualizing the target polygons
+ std::map<std::string, ::armarx::MatrixFloatPtr> restrictPolygonMap = in.getRestrictPolygon();
+ std::map<std::string, ::armarx::Vector3Ptr> platFormTargetMap = in.getPlatformTargetPose();
+
+ Eigen::MatrixXf polygon;
+ Eigen::Vector3f platformTargetPose;
+ if (in.getIsGuardPlacement())
+ {
+ polygon = restrictPolygonMap.at("GuardPlacement")->toEigen();
+ platformTargetPose = platFormTargetMap.at("GuardPlacement")->toEigen();
+ }
+ else
+ {
+ polygon = restrictPolygonMap.at("GuardLifting")->toEigen();
+ platformTargetPose = platFormTargetMap.at("GuardLifting")->toEigen();
+ ARMARX_INFO << "platform target pose is:\n" << platformTargetPose;
+ }
+
+ std::vector<Eigen::Vector2f> points;
+ for (int i = 0; i < polygon.rows(); ++i)
+ {
+ // Polygon is relative to target pose (but in global frame).
+ Eigen::Vector2f point = platformTargetPose.head<2>() + polygon.row(i).transpose();
+ points.push_back(point);
+ }
+ {
+ viz::Layer layer = arviz.layer("Goal Polygon");
+ viz::Polygon goalPolygon("Goal Polygon");
+ for (const Eigen::Vector2f& point : points)
+ {
+ goalPolygon.addPoint(Eigen::Vector3f(point.x(), point.y(), +1));
+ ARMARX_INFO << "polygon point: " << point.x() << ", " << point.y();
+ }
+ goalPolygon.lineColor(simox::Color::green()).lineWidth(5);
+ goalPolygon.color(simox::Color::green(255, 64));
+ layer.add(goalPolygon);
+ arviz.commit(layer);
+ }
+
+ VirtualRobot::MathTools::ConvexHull2DPtr convPolygon = VirtualRobot::MathTools::createConvexHull2D(points);
+
+
+ /// -------------------------------- set hand target ---------------------------------------
+ devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx leftHandcontroller;
+ if (!getRobotUnit()->getNJointController("Hand_L_EEF_NJointKITHandV2ShapeController"))
+ {
+ leftHandcontroller = StateBase::getContext<Armar6BoardSupportDemoStatechartContext>()->getProxy<devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx>("Hand_L_EEF_NJointKITHandV2ShapeController");
+ }
+ else
+ {
+ leftHandcontroller = devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx::checkedCast(getRobotUnit()->getNJointController("Hand_L_EEF_NJointKITHandV2ShapeController"));
+ }
+ leftHandcontroller->activateController();
+
+ devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx rightHandcontroller;
+ if (!getRobotUnit()->getNJointController("Hand_R_EEF_NJointKITHandV2ShapeController"))
+ {
+ rightHandcontroller = StateBase::getContext<Armar6BoardSupportDemoStatechartContext>()->getProxy<devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx>("Hand_R_EEF_NJointKITHandV2ShapeController");
+ }
+ else
+ {
+ rightHandcontroller = devices::ethercat::hand::armar6_v2::ShapeControllerInterfacePrx::checkedCast(getRobotUnit()->getNJointController("Hand_R_EEF_NJointKITHandV2ShapeController"));
+ }
+ rightHandcontroller->activateController();
+
+ leftHandcontroller->setTargetsWithPwm(0, 2, 1, 1);
+ rightHandcontroller->setTargetsWithPwm(0, 2, 1, 1);
+
+
+ /// -------------------------------- get tcp pose ------------------------------------------
+ /// obtain the current tcp poses to be used by later on states
+ VirtualRobot::RobotPtr localRobot = getLocalRobot();
+ RemoteRobot::synchronizeLocalClone(localRobot, getRobotStateComponent());
+
+ const std::string nodeSetNameLeft = "LeftArm";
+ const std::string nodeSetNameRight = "RightArm";
+ VirtualRobot::RobotNodePtr tcpRight = localRobot->getRobotNodeSet(nodeSetNameRight)->getTCP();
+ VirtualRobot::RobotNodePtr tcpLeft = localRobot->getRobotNodeSet(nodeSetNameLeft)->getTCP();
+
+ Eigen::Matrix4f desiredPoseLeft;
+ if (in.isDesiredPoseLeftSet())
+ {
+ desiredPoseLeft = in.getDesiredPoseLeft()->toEigen();
+ }
+ else
+ {
+ desiredPoseLeft = tcpLeft->getPoseInRootFrame();
+ out.setDesiredPoseLeft(desiredPoseLeft);
+ }
+
+
+ Eigen::Matrix4f desiredPoseRight;
+ if (in.isDesiredPoseRightSet())
+ {
+ desiredPoseRight = in.getDesiredPoseRight()->toEigen();
+ }
+ else
+ {
+ desiredPoseRight = tcpRight->getPoseInRootFrame();
+ out.setDesiredPoseRight(desiredPoseRight);
+ }
+
+ const Eigen::Vector3f targetRight = desiredPoseRight.topRightCorner<3, 1>();
+ const Eigen::Vector3f targetLeft = desiredPoseLeft.topRightCorner<3, 1>();
+
+ /// -------------------------------- get platform position/orientation ---------------------
+ DatafieldRefPtr platformPosX = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "positionX"));
+ DatafieldRefPtr platformPosY = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "positionY"));
+ DatafieldRefPtr platformRotAng = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "rotation"));
+
+ /// -------------------------------- thumb feedback ----------------------------------------
+ DatafieldRefPtr thumbDFLeft = DatafieldRefPtr::dynamicCast(getKinematicUnitObserver()->getDatafieldRefByName("jointangles", "LeftHandThumb"));
+ DatafieldRefPtr thumbDFRight = DatafieldRefPtr::dynamicCast(getKinematicUnitObserver()->getDatafieldRefByName("jointangles", "RightHandThumb"));
+
+ /// ----------------------------------- main loop ------------------------------------------
+ bool speechOutputAfterWait = true;
+ bool enterPolygonTextReported = false;
+
+ ARMARX_DEBUG << "Control skill has been invoked; starting loop";
+ armarx::Metronome metronome(armarx::Frequency::Hertz(30));
+ ARMARX_INFO << "isRunningTaskStopped before first loop cycle: " << isRunningTaskStopped();
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+ RemoteRobot::synchronizeLocalClone(localRobot, getRobotStateComponent());
+
+ if (in.getIsConsiderFailure())
+ {
+ if (
+ thumbDFLeft->getDataField()->getFloat() > in.getLeftThumbThreshold() ||
+ thumbDFRight->getDataField()->getFloat() > in.getRightThumbThreshold()
+ )
+ {
+ ARMARX_INFO<< "Ups, please wait a moment";
+ // Thumb is closed too far, i.e., there is no guard in the hand anymore;
+ // transition to error recovery state
+ if(skillExecutionId.has_value())
+ {
+ skillMemory->abortSkill(skillExecutionId.value());
+ skillExecutionId = std::nullopt;
+ }
+ getPlatformUnit()->move(0, 0, 0);
+ emitLoseGuard();
+ return;
+ }
+ }
+ if (speechOutputAfterWait)
+ {
+ getTextToSpeech()->reportText(in.getTextAfterWaitForZeroTorque());
+ speechOutputAfterWait = false;
+ }
+
+ const Eigen::Vector3f currentPosition(
+ platformPosX->getDataField()->getFloat(),
+ platformPosY->getDataField()->getFloat(),
+ platformRotAng->getDataField()->getFloat()
+ );
+
+ ARMARX_DEBUG << "currentGuardPosition: " << currentPosition[0] << " ," << currentPosition[1];
+ bool platformInPolygon = in.getIsAutoDriveEnabled() && VirtualRobot::MathTools::isInside(currentPosition.head(2), convPolygon);
+ platformInPolygon = platformInPolygon && fabs(platformTargetPose(2) - currentPosition(2)) < in.getRestrictAngle() * M_PI / 180.0;
+
+ Eigen::Vector3f currentPositionRight = tcpRight->getPositionInRootFrame();
+ Eigen::Vector3f currentPositionLeft = tcpLeft->getPositionInRootFrame();
+
+
+ ARMARX_CHECK(in.getIsAutoDriveEnabled())
+ << "Current implementation relies on auto drive being enabled to terminate "
+ << "properly when reaching the target.";
+ bool automaticDriveCondition = in.getIsAutoDriveEnabled() &&
+ (
+ (targetLeft - currentPositionLeft).norm() < in.getHandOutofRangeThreshold() ||
+ (targetRight - currentPositionRight).norm() < in.getHandOutofRangeThreshold()
+ );
+
+ if (platformInPolygon && automaticDriveCondition)
+ {
+ ARMARX_INFO << "platform now is in polygon";
+ if (!enterPolygonTextReported)
+ {
+ getTextToSpeech()->reportText(in.getHandOutofRangeSpeechOutput());
+ enterPolygonTextReported = true;
+ }
+
+ if(skillExecutionId.has_value())
+ {
+ skillMemory->abortSkill(skillExecutionId.value());
+ skillExecutionId = std::nullopt;
+ }
+ navigateToSubskill(platformTargetPose);
+ break;
+ }
+ metronome.waitForNextTick();
+ }
+
+ ARMARX_DEBUG << "running task has been requested to stop";
+ if(skillExecutionId.has_value())
+ {
+ skillMemory->abortSkill(skillExecutionId.value());
+ skillExecutionId = std::nullopt;
+ }
+ ARMARX_INFO << "leaving state after having stopped everything, with success";
+ emitSuccess();
+ return;
+
+ // const std::vector<float> Kpos = in.getKpos();
+ // const std::vector<float> Kori = in.getKori();
+ // const std::vector<float> Dpos = in.getDpos();
+ // const std::vector<float> Dori = in.getDori();
+
+
+
+ // std::vector<float> desiredJointPositionLeft;
+ // if (in.isDesiredLeftJointValuesSet())
+ // {
+ // desiredJointPositionLeft = in.getDesiredLeftJointValues();
+ // }
+ // else
+ // {
+ // desiredJointPositionLeft = localRobot->getRobotNodeSet(nodeSetNameLeft)->getJointValues();
+ // }
+
+ // std::vector<float> desiredJointPositionRight;
+ // if (in.isDesiredRightJointValuesSet())
+ // {
+ // desiredJointPositionRight = in.getDesiredRightJointValues();
+ // }
+ // else
+ // {
+ // desiredJointPositionRight = localRobot->getRobotNodeSet(nodeSetNameRight)->getJointValues();
+ // }
+
+ // std::vector<float> knull = in.getKnull();
+ // std::vector<float> dnull = in.getDnull();
+
+ // NJointTaskSpaceImpedanceControlConfigPtr leftConfig = new NJointTaskSpaceImpedanceControlConfig;
+ // leftConfig->nodeSetName = nodeSetNameLeft;
+ // leftConfig->desiredPosition = simox::math::mat4f_to_pos(desiredPoseLeft);
+ // leftConfig->desiredOrientation = simox::math::mat4f_to_quat(desiredPoseLeft);
+ // leftConfig->Kpos = Eigen::Map<const Eigen::Vector3f>(Kpos.data(), Kpos.size());
+ // leftConfig->Kori = Eigen::Map<const Eigen::Vector3f>(Kori.data(), Kori.size());
+ // leftConfig->Dpos = Eigen::Map<const Eigen::Vector3f>(Dpos.data(), Dpos.size());
+ // leftConfig->Dori = Eigen::Map<const Eigen::Vector3f>(Dori.data(), Dori.size());
+ // leftConfig->desiredJointPositions = Eigen::Map<const Eigen::VectorXf>(desiredJointPositionLeft.data(), desiredJointPositionLeft.size());
+ // leftConfig->Knull = Eigen::Map<const Eigen::VectorXf>(knull.data(), knull.size());
+ // leftConfig->Dnull = Eigen::Map<const Eigen::VectorXf>(dnull.data(), dnull.size());
+ // leftConfig->torqueLimit = in.getTorqueLimit();
+
+ // NJointTaskSpaceImpedanceControlConfigPtr rightConfig = new NJointTaskSpaceImpedanceControlConfig;
+ // rightConfig->nodeSetName = nodeSetNameRight;
+ // rightConfig->desiredPosition = simox::math::mat4f_to_pos(desiredPoseRight);
+ // rightConfig->desiredOrientation = simox::math::mat4f_to_quat(desiredPoseRight);
+ // rightConfig->Kpos = Eigen::Map<const Eigen::Vector3f>(Kpos.data(), Kpos.size());
+ // rightConfig->Kori = Eigen::Map<const Eigen::Vector3f>(Kori.data(), Kori.size());
+ // rightConfig->Dpos = Eigen::Map<const Eigen::Vector3f>(Dpos.data(), Dpos.size());
+ // rightConfig->Dori = Eigen::Map<const Eigen::Vector3f>(Dori.data(), Dori.size());
+ // rightConfig->desiredJointPositions = Eigen::Map<const Eigen::VectorXf>(desiredJointPositionRight.data(), desiredJointPositionRight.size());
+ // rightConfig->Knull = Eigen::Map<const Eigen::VectorXf>(knull.data(), knull.size());
+ // rightConfig->Dnull = Eigen::Map<const Eigen::VectorXf>(dnull.data(), dnull.size());
+ // rightConfig->torqueLimit = in.getTorqueLimit();
+
+ // NJointTaskSpaceImpedanceControlInterfacePrx leftController
+ // = NJointTaskSpaceImpedanceControlInterfacePrx::checkedCast(getRobotUnit()->createNJointController("NJointTaskSpaceImpedanceController", "LeftController", leftConfig));
+ // NJointTaskSpaceImpedanceControlInterfacePrx rightController
+ // = NJointTaskSpaceImpedanceControlInterfacePrx::checkedCast(getRobotUnit()->createNJointController("NJointTaskSpaceImpedanceController", "RightController", rightConfig));
+
+
+ // leftController->activateController();
+ // rightController->activateController();
+
+
+ /* ---------------- platform ------------------- */
+
+ // float Kplatform = in.getKplatform();
+ // float Dplatform = in.getDplatform();
+
+ // float maxVelocity = in.getMaxVelocity();
+
+ // float KplatformAngle = in.getKplatformAngle();
+ // float DplatformAngle = in.getDplatformAngle();
+ // float maxAngularVelocity = in.getMaxAngularVelocity();
+
+ // Eigen::Vector3f filteredLinearVel;
+ // filteredLinearVel.setZero();
+ // float filteredAngularVel = 0;
+
+ // currentTCPLinearVelocity_filtered = (1 - filterFactor) * currentTCPLinearVelocity_filtered + filterFactor * currentTCPLinearVelocity;
+
+ // IceUtil::Time last = TimeUtil::GetTime();
+ // float filterTimeConstant = 0.01; //0.05;
+
+ // MultiDimPIDController pidTrans(in.getRestrictTranslationPID()->x, in.getRestrictTranslationPID()->y, in.getRestrictTranslationPID()->z);
+ // PIDController pidRot(in.getRestrictRotationPID()->x, in.getRestrictRotationPID()->y, in.getRestrictRotationPID()->z);
+
+ // DatafieldRefPtr platformVelX = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformVelocity", "velocityX"));
+ // DatafieldRefPtr platformVelY = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformVelocity", "velocityY"));
+ // DatafieldRefPtr platformRotVel = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformVelocity", "velocityRotation"));
+
+ // /// -------------------------------- get platform position/orientation ---------------------
+ // DatafieldRefPtr platformPosX = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "positionX"));
+ // DatafieldRefPtr platformPosY = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "positionY"));
+ // DatafieldRefPtr platformRotAng = DatafieldRefPtr::dynamicCast(getPlatformUnitObserver()->getDatafieldRefByName("platformPose", "rotation"));
+
+ // DatafieldRefPtr forceDfLeft = DatafieldRefPtr::dynamicCast(getForceTorqueObserver()->getForceDatafield("FT L_ArmL_FT"));
+ // DatafieldRefPtr forceDfRight = DatafieldRefPtr::dynamicCast(getForceTorqueObserver()->getForceDatafield("FT R_ArmR_FT"));
+ // Eigen::Vector3f initialForceLeft;
+ // initialForceLeft.setZero();
+ // Eigen::Vector3f initialForceRight;
+ // initialForceRight.setZero();
+
+ // usleep(100000);
+ // auto dd = getDebugDrawerTopic();
+
+
+ // //**** use obstacle avoidance component *****//
+ // ObstacleDetectionInterfacePrx obstacle_detection = getObstacleDetection();
+ // ObstacleAvoidanceInterfacePrx obstacle_avoidance = getObstacleAvoidance();
+ // // ObstacleAvoidanceInterfacePrx obstacle_avoidance = getObstacleAvoidance2D();
+ // // obstacleavoidance::Config obstacle_avoidance_cfg = obstacle_avoidance->getConfig();
+
+ // // clear_drawings(dd);
+
+ // CycleUtil c(5);
+ // Eigen::Vector3f oldVisuPos = Eigen::Vector3f::Zero();
+ // int visuSphereCounter = 0;
+
+
+ // /// -------------------------------- thumb feedback ----------------------------------------
+ // DatafieldRefPtr thumbDFLeft = DatafieldRefPtr::dynamicCast(getKinematicUnitObserver()->getDatafieldRefByName("jointangles", "LeftHandThumb"));
+ // DatafieldRefPtr thumbDFRight = DatafieldRefPtr::dynamicCast(getKinematicUnitObserver()->getDatafieldRefByName("jointangles", "RightHandThumb"));
+
+ // IceUtil::Time start = TimeUtil::GetTime();
+ // Eigen::Vector3f initialPositionRight;
+ // Eigen::Vector3f initialPositionLeft;
+ // Eigen::Vector3f initialDirection;
+ // Eigen::Vector3f filteredPlatformTargetVelocity = Eigen::Vector3f::Zero();
+
+ // Eigen::Vector3f dimensions;
+ // dimensions << 805, 1205, 20;
+ // bool isFirstLoop = true;
+ // bool speechOutputAfterWait = true;
+ // float minPosiTolerance = in.getMinPosiTolerance();
+ // bool isImpedanceParameterReset = false;
+
+ // obstacledetection::Obstacle obs3d;
+ // //bool isObs3d = false;
+ // if (in.isObs3DPositionSet())
+ // {
+ // obstacledetection::ObstacleList obstacleList = obstacle_detection->getObstacles();
+
+ // for (size_t i = 0; i < obstacleList.size(); ++i)
+ // {
+ // obstacledetection::Obstacle obs = obstacleList.at(i);
+ // if (obs.name == "obs3d")
+ // {
+ // ARMARX_INFO << "Removing obstacle 3d";
+ // obstacle_detection->removeObstacle("obs3d");
+ // obs3d = obs;
+ // //isObs3d = true;
+ // }
+ // }
+
+ // }
+
+ // while (!isRunningTaskStopped())
+ // {
+ // RemoteRobot::synchronizeLocalClone(localRobot, getRobotStateComponent());
+
+ // if (in.\n())
+ // {
+ // if (thumbDFLeft->getDataField()->getFloat() > in.getLeftThumbThreshold() || thumbDFRight->getDataField()->getFloat() > in.getRightThumbThreshold())
+ // {
+ // getPlatformUnit()->move(0, 0, 0);
+ // emitLoseGuard();
+ // return;
+ // }
+ // }
+ // // IceUtil::Time now = TimeUtil::GetTime();
+
+ // /* Debug Drawer */
+ // // if (in.isShowGuardSet() && in.getShowGuard())
+ // // {
+ // // std::string layerName = "guard_layer";
+ // // std::string boxName = "guard";
+ // // DrawColor color = {0.5, 0.5, 0.5, 1};
+ // // }
+
+ // /* Control Platform */
+ // // double timeDuration = (now - start).toSecondsDouble();
+ // // if (timeDuration < in.getMinExecutionTime() || isFirstLoop)
+ // // {
+ // // // std::vector<float> currPoseLeft = Helpers::pose2vec(localRobot->getRobotNodeSet("LeftArm")->getTCP()->getPoseInRootFrame());
+ // // // std::vector<float> currPoseRight = Helpers::pose2vec(localRobot->getRobotNodeSet("RightArm")->getTCP()->getPoseInRootFrame());
+
+ // // // initialPositionRight << currPoseRight.at(0), currPoseRight.at(1), currPoseRight.at(2);
+ // // // initialPositionLeft << currPoseLeft.at(0), currPoseLeft.at(1), currPoseLeft.at(2);
+ // // // initialDirection = initialPositionRight - initialPositionLeft;
+ // // // initialDirection = initialDirection / initialDirection.norm();
+
+ // // // {
+ // // // FramedDirectionPtr forcePtr = forceDfLeft->getDataField()->get<FramedDirection>();
+ // // // initialForceLeft = forcePtr->toRootEigen(localRobot);
+ // // // }
+ // // // {
+ // // // FramedDirectionPtr forcePtr = forceDfRight->getDataField()->get<FramedDirection>();
+ // // // initialForceRight = forcePtr->toRootEigen(localRobot);
+ // // // }
+
+ // // isFirstLoop = false;
+
+ // // continue;
+ // // }
+ // if (speechOutputAfterWait)
+ // {
+ // getTextToSpeech()->reportText(in.getTextAfterWaitForZeroTorque());
+ // speechOutputAfterWait = false;
+
+ // // const Eigen::Vector3f desiredPositionRightVec = desiredPoseRight.topRightCorner<3, 1>();
+ // // const Eigen::Vector3f desiredPositionLeftVec = desiredPoseLeft.topRightCorner<3, 1>();
+ // // const Eigen::Vector3f positionRightError = initialPositionRight - desiredPositionRightVec;
+ // // const Eigen::Vector3f positionLeftError = initialPositionLeft - desiredPositionLeftVec;
+ // // ARMARX_INFO << "differece Pose: " << positionLeftError.norm() << ", " << positionRightError.norm();
+ // }
+
+ // const Eigen::Vector3f currentPosition(
+ // platformPosX->getDataField()->getFloat(),
+ // platformPosY->getDataField()->getFloat(),
+ // platformRotAng->getDataField()->getFloat()
+ // );
+
+ // ARMARX_DEBUG << "currentGuardPosition: " << currentPosition[0] << " ," << currentPosition[1];
+ // bool platformInPolygon = in.getIsAutoDriveEnabled() && VirtualRobot::MathTools::isInside(currentPosition.head(2), convPolygon);
+ // platformInPolygon = platformInPolygon && fabs(platformTargetPose(2) - currentPosition(2)) < in.getRestrictAngle() * M_PI / 180.0;
+
+ // // RemoteRobot::synchronizeLocalClone(localRobot, getRobotStateComponent());
+ // Eigen::Vector3f currentPositionRight = tcpRight->getPositionInRootFrame();
+ // Eigen::Vector3f currentPositionLeft = tcpLeft->getPositionInRootFrame();
+
+ // bool automaticDriveCondition = in.getIsAutoDriveEnabled() && ((targetLeft - currentPositionLeft).norm() < in.getHandOutofRangeThreshold() || (targetRight - currentPositionRight).norm() < in.getHandOutofRangeThreshold());
+ // bool textReported = false;
+
+ // // 3D obstacle avoidance
+
+ // // bool isObs3DReached = false;
+ // // if (in.isObs3DPositionSet())
+ // // {
+ // // Eigen::Vector3f currentGuardLocalPosi = (currentPositionLeft + currentPositionRight) / 2;
+ // // currentGuardLocalPosi(1) += 0.6;
+ // // Eigen::Vector3f currentGuardGlobalPosi = localRobot->toGlobalCoordinateSystemVec(currentGuardLocalPosi);
+ // // currentGuardGlobalPosi(2) = 0;
+ // // Eigen::Vector3f currentObsPosi = in.getObs3DPosition()->toEigen();
+
+ // // float distToObs = (currentGuardGlobalPosi - currentObsPosi).norm();
+ // // float heightOffset = 0;
+
+ // // float distToReact = in.getObs3DDistToReact();
+
+ // // if (distToObs < 0.5 * distToReact)
+ // // {
+ // // isObs3DReached = true;
+ // // }
+ // // else
+ // // {
+ // // isObs3DReached = false;
+ // // }
+
+ // // if (distToObs < distToReact)
+ // // {
+
+ // // float changeFactor = cos(distToObs / distToReact * M_PI / 2);
+ // // heightOffset = in.getObs3DHeightAmplitude() * changeFactor;
+ // // std::vector<float> currentKpos = Kpos;
+ // // currentKpos[0] = Kpos[0] - in.getObs3DMaxiReducedStiffness()->x * changeFactor;
+ // // // currentKpos[1] = Kpos[1] + in.getObs3DMaxiReducedStiffness()->y * changeFactor;
+
+ // // leftController->setPosition(
+ // // {
+ // // desiredPoseLeft(0, 3),
+ // // desiredPoseLeft(1, 3),
+ // // desiredPoseLeft(2, 3) + heightOffset
+ // // });
+ // // rightController->setPosition(
+ // // {
+ // // desiredPoseRight(0, 3),
+ // // desiredPoseRight(1, 3),
+ // // desiredPoseRight(2, 3) + heightOffset
+ // // });
+ // // leftController->setImpedanceParameters("Kpos", currentKpos);
+ // // rightController->setImpedanceParameters("Kpos", currentKpos);
+
+ // // }
+ // // else
+ // // {
+ // // leftController->setImpedanceParameters("Kpos", Kpos);
+ // // rightController->setImpedanceParameters("Kpos", Kpos);
+ // // }
+ // // }
+
+
+ // if (platformInPolygon && automaticDriveCondition)
+ // {
+ // // if (!isImpedanceParameterReset)
+ // // {
+ // if (!textReported)
+ // {
+ // getTextToSpeech()->reportText(in.getHandOutofRangeSpeechOutput());
+ // textReported = true;
+ // }
+
+ // /// TODO here we execute the navigation skill synchroneously
+ // /// exit when succeeded
+ // emitSuccess();
+ // return;
+
+ // /// TODO this is not regarded anymore, may affect the demo
+ // // leftController->setImpedanceParameters("Kpos", in.getRestrictKpos());
+ // // leftController->setImpedanceParameters("Dpos", in.getRestrictDpos());
+ // // rightController->setImpedanceParameters("Kpos", in.getRestrictKpos());
+ // // rightController->setImpedanceParameters("Dpos", in.getRestrictDpos());
+ // // minPosiTolerance = in.getHandOutofRangeThreshold();
+ // // isImpedanceParameterReset = true;
+ // // }
+ // // float posx = platformPosX->getDataField()->getFloat();
+ // // float posy = platformPosY->getDataField()->getFloat();
+ // // float ori = platformRotAng->getDataField()->getFloat();
+
+ // // Eigen::Vector3f pos {posx, posy, 0.0f};
+
+ // // if (ori > M_PI)
+ // // {
+ // // ori = - 2 * M_PI + ori;
+ // // }
+
+ // // float angleDelta = platformTargetPose(2) - ori;
+ // // ARMARX_INFO << deactivateSpam(1) << VAROUT(angleDelta);
+
+ // // // transform alpha to [-pi, pi)
+ // // while (angleDelta < -M_PI)
+ // // {
+ // // angleDelta += 2 * M_PI;
+ // // }
+
+ // // while (angleDelta >= M_PI)
+ // // {
+ // // angleDelta -= 2 * M_PI;
+ // // }
+
+ // // Eigen::Vector3f target {platformTargetPose(0), platformTargetPose(1), 0.0f};
+ // // pidTrans.update(pos, target);
+ // // pidRot.update(angleDelta, 0);
+
+ // // Eigen::Vector2f newVel(pidTrans.getControlValue()[0], pidTrans.getControlValue()[1]);
+
+
+ // // float newVelocityRot = -signedMinFunction(pidRot.getControlValue(), in.getRestrictMaxAngularVelocity());
+ // // Eigen::Vector3f globalVel {newVel[0], newVel[1], 0};
+ // // Eigen::Matrix3f m;
+ // // m = Eigen::AngleAxisf(ori, Eigen::Vector3f::UnitZ());
+ // // Eigen::Vector3f localVel = m.inverse() * globalVel;
+ // // if (localVel.norm() > in.getRestrictMaxVelocity())
+ // // {
+ // // localVel *= in.getRestrictMaxVelocity() / localVel.norm();
+ // // }
+
+ // // if (std::isnan(localVel[0]) || std::isnan(localVel[1]) || std::isnan(newVelocityRot))
+ // // {
+ // // throw LocalException("A target velocity is NaN!");
+ // // }
+
+ // // getPlatformUnit()->move(localVel[0], localVel[1], newVelocityRot);
+
+
+ // // if (fabs(pidTrans.previousError) < in.getPositionalAccuracy() && fabs(pidRot.previousError) < in.getOrientationalAccuracy())
+ // // {
+ // // break;
+ // // }
+ // // else
+ // // {
+ // // ARMARX_INFO << deactivateSpam(1) << "error: " << pidTrans.previousError << " x velocity: " << newVel[0] << " y velocity: " << newVel[1];
+ // // ARMARX_INFO << deactivateSpam(1) << "rot error: " << pidRot.previousError << " rot velocity: " << newVelocityRot;
+ // // }
+
+ // // usleep(100000);
+ // }
+ // else
+ // {
+ // // if (!platformInPolygon && isImpedanceParameterReset)
+ // // {
+ // // // leftController->setImpedanceParameters("Kpos", in.getKpos());
+ // // // leftController->setImpedanceParameters("Dpos", in.getDpos());
+ // // // rightController->setImpedanceParameters("Kpos", in.getKpos());
+ // // // rightController->setImpedanceParameters("Dpos", in.getDpos());
+ // // // minPosiTolerance = in.getMinPosiTolerance();
+ // // isImpedanceParameterReset = false;
+ // // }
+
+ // // Eigen::Vector3f positionDeltaRight = currentPositionRight - initialPositionRight;
+ // // Eigen::Vector3f positionDeltaLeft = currentPositionLeft - initialPositionLeft;
+ // // Eigen::Vector3f positionDelta = (positionDeltaLeft + positionDeltaRight) / 2;
+ // // Eigen::Vector3f currentVel;
+ // // currentVel << platformVelX->getDataField()->getFloat(), platformVelY->getDataField()->getFloat(), 0;
+ // // Eigen::Vector3f velocity;
+ // // if (positionDelta.norm() < minPosiTolerance)
+ // // {
+ // // velocity.setZero();
+ // // }
+ // // else
+ // // {
+ // // positionDelta = positionDelta - minPosiTolerance * positionDelta / positionDelta.norm();
+ // // velocity = positionDelta * Kplatform - currentVel * Dplatform;
+ // // }
+
+
+ // // double deltaT = (now - last).toSecondsDouble();
+ // // last = now;
+
+ // // if (deltaT == 0)
+ // // {
+ // // continue;
+ // // }
+ // // // ARMARX_INFO << "deltaT: " << deltaT;
+ // // float Tstar = 1 / ((filterTimeConstant / deltaT) + 1);
+ // // filteredLinearVel = Tstar * (velocity - filteredLinearVel) + filteredLinearVel;
+
+ // // if (!std::isfinite(filteredLinearVel(0)))
+ // // {
+ // // filteredLinearVel(0) = 0;
+ // // }
+ // // if (!std::isfinite(filteredLinearVel(1)))
+ // // {
+ // // filteredLinearVel(1) = 0;
+ // // }
+
+ // // velocity = math::MathUtils::LimitTo(filteredLinearVel, maxVelocity); // in mm
+
+ // // modulated velocity for obstacle avoidance
+
+ // //const Eigen::Vector2f agent_pos = localRobot->getGlobalPosition().head<2>();
+
+ // // float ori = platformRotAng->getDataField()->getFloat();
+ // // if (ori > M_PI)
+ // // {
+ // // ori = - 2 * M_PI + ori;
+ // // }
+
+ // // Eigen::Matrix3f m;
+ // // m = Eigen::AngleAxisf(ori, Eigen::Vector3f::UnitZ());
+ // // Eigen::Vector3f globalVel = m * velocity;
+
+ // // obstacleavoidance::Agent agent;
+ // // agent.safety_margin = 0;
+ // // agent.pos = localRobot->getGlobalPosition();
+ // // agent.desired_vel = globalVel;
+ // // Eigen::Vector3f modulated_vel = obstacle_avoidance->modulateVelocity(agent);
+ // // modulated_vel[2] = 0;
+ // // Eigen::Vector3f localVel = m.inverse() * modulated_vel;
+ // // localVel[2] = 0;
+ // // if (localVel.norm() > in.getMaxVelocity())
+ // // {
+ // // localVel *= in.getMaxVelocity() / localVel.norm();
+ // // }
+
+ // // //
+ // // float angularVelocity ;
+
+ // // Eigen::Vector3f currentDirection = currentPositionRight - currentPositionLeft;
+ // // currentDirection = currentDirection / currentDirection.norm();
+
+ // // float cosAlpha = currentDirection.dot(initialDirection);
+
+ // // float alpha = 0;
+
+ // // Eigen::Vector3f directionDiff = currentDirection - initialDirection;
+ // // if (directionDiff(1) < 0)
+ // // {
+ // // alpha = -acos(cosAlpha);
+ // // }
+ // // else
+ // // {
+ // // alpha = acos(cosAlpha);
+ // // }
+
+
+ // // float minAngleTolerance = in.getMinAngleTolerance();
+ // // if (fabs(alpha) < minAngleTolerance)
+ // // {
+ // // angularVelocity = 0;
+ // // }
+ // // else
+ // // {
+ // // if (alpha > 0)
+ // // {
+ // // alpha -= minAngleTolerance;
+ // // }
+ // // else
+ // // {
+ // // alpha += minAngleTolerance;
+ // // }
+ // // angularVelocity = KplatformAngle * alpha - DplatformAngle * platformRotVel;
+ // // }
+
+ // // filteredAngularVel = Tstar * (angularVelocity - filteredAngularVel) + filteredAngularVel;
+ // // if (!std::isfinite(filteredAngularVel))
+ // // {
+ // // filteredAngularVel = 0;
+ // // }
+
+ // // angularVelocity = math::MathUtils::LimitTo(filteredAngularVel, maxAngularVelocity);
+
+ // // getDebugObserver()->setDebugChannel("FollowMeTorque",
+ // // {
+ // // { "vx", new Variant(velocity(0)) },
+ // // { "vy", new Variant(velocity(1)) },
+ // // { "vangle", new Variant(angularVelocity) },
+ // // });
+ // // localVel(2) = angularVelocity;
+
+ // // if (std::isnan(localVel[0]) || std::isnan(localVel[1]) || std::isnan(angularVelocity))
+ // // {
+ // // ARMARX_WARNING << deactivateSpam(1) << "Some velocity target is NaN - setting to zero";
+ // // localVel.setZero();
+ // // }
+
+ // // float ratio = 0.7;
+ // // filteredPlatformTargetVelocity = filteredPlatformTargetVelocity * ratio + (1.0 - ratio) * localVel;
+ // // float oriVel = filteredPlatformTargetVelocity(2);
+
+ // // if (isObs3DReached)
+ // // {
+ // // oriVel = 0;
+ // // }
+
+ // // getPlatformUnit()->move(filteredPlatformTargetVelocity(0), filteredPlatformTargetVelocity(1), oriVel);
+
+
+ // // debug drawer ....
+ // // {
+ // // if ((oldVisuPos - localRobot->getGlobalPosition()).norm() > 50)
+ // // {
+ // // draw_agent_path(dd, agent_pos, visuSphereCounter++);
+ // // oldVisuPos = localRobot->getGlobalPosition();
+ // // }
+ // // draw_agent_safety_margin(dd, agent_pos, ori, obstacle_avoidance_cfg.agent_safety_margin);
+ // // draw_agent_desired_velocity(dd, agent_pos, globalVel.head(2));
+ // // draw_agent_modulated_velocity(dd, agent_pos, modulated_vel.head(2));
+ // // }
+
+ // }
+
+ // c.waitForCycleDuration();
+ // }
+
+ // ARMARX_INFO << "running task has been requested to stop";
+ // skillMemory->abortSkillAsync(skillExecutionId);
+ // emitSuccess();
+ // return;
+ }
+
+ //void GuardCarryingSkill::onBreak()
+ //{
+ // // put your user code for the breaking point here
+ // // execution time should be short (<100ms)
+ //}
+
+ void GuardCarryingSkill::onExit()
+ {
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+ }
+
+
+ // DO NOT EDIT NEXT FUNCTION
+ XMLStateFactoryBasePtr GuardCarryingSkill::CreateInstance(XMLStateConstructorParams stateData)
+ {
+ return XMLStateFactoryBasePtr(new GuardCarryingSkill(stateData));
+ }
+}
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.h b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.h
new file mode 100644
index 0000000000000000000000000000000000000000..f20024a5c28e6e5cfe7024faaf070c695dd4a322
--- /dev/null
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.h
@@ -0,0 +1,53 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package skills::Armar6BoardSupportDemo
+ * @author [Author Name] ( [Author Email] )
+ * @date 2024
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <mutex>
+
+#include <armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.generated.h>
+
+namespace armarx::Armar6BoardSupportDemo
+{
+ class GuardCarryingSkill :
+ public GuardCarryingSkillGeneratedBase < GuardCarryingSkill >
+ {
+ public:
+ GuardCarryingSkill(const XMLStateConstructorParams& stateData):
+ XMLStateTemplate < GuardCarryingSkill > (stateData), GuardCarryingSkillGeneratedBase < GuardCarryingSkill > (stateData)
+ {
+ }
+
+ // inherited from StateBase
+ void onEnter() override;
+ void run() override;
+ // void onBreak() override;
+ void onExit() override;
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+}
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5a849af9c249272c0848a915417971d86edb2
--- /dev/null
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingSkill.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="GuardCarryingSkill" uuid="30629B08-477C-4EC0-8150-549910532B42" width="800" height="391.529" type="Normal State">
+ <InputParameters>
+ <Parameter name="DesiredPoseLeft" type="::armarx::PoseBase" docType="Pose" optional="yes"/>
+ <Parameter name="DesiredPoseRight" type="::armarx::PoseBase" docType="Pose" optional="yes"/>
+ <Parameter name="HandOutofRangeSpeechOutput" type="::armarx::StringVariantData" docType="string" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Please follow me."}}' docValue="Please follow me."/>
+ </Parameter>
+ <Parameter name="HandOutofRangeThreshold" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":200}}' docValue="200"/>
+ </Parameter>
+ <Parameter name="IsAutoDriveEnabled" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+ </Parameter>
+ <Parameter name="IsConsiderFailure" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+ </Parameter>
+ <Parameter name="IsGuardPlacement" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":false}}' docValue="False"/>
+ </Parameter>
+ <Parameter name="LeftThumbThreshold" type="::armarx::FloatVariantData" docType="float" optional="yes">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.8}}' docValue="0.800000011920929"/>
+ </Parameter>
+ <Parameter name="PlatformKAngle" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":15}}' docValue="15"/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":12}}' docValue="12"/>
+ </Parameter>
+ <Parameter name="PlatformKPosition" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":24}}' docValue="24"/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":18}}' docValue="18"/>
+ </Parameter>
+ <Parameter name="PlatformTargetPose" type="::armarx::StringValueMapBase(::armarx::Vector3Base)" docType="Map(Vector3)" optional="no"/>
+ <Parameter name="RestrictAngle" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":45}}' docValue="45"/>
+ </Parameter>
+ <Parameter name="RestrictMaxAngularVelocity" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.07}}' docValue="0.0700000002980232"/>
+ </Parameter>
+ <Parameter name="RestrictMaxVelocity" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":300}}' docValue="300"/>
+ </Parameter>
+ <Parameter name="RestrictPolygon" type="::armarx::StringValueMapBase(::armarx::MatrixFloatBase)" docType="Map(MatrixFloat)" optional="no">
+ <DefaultValue value='{"map":{"GuardPlacement":{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::MatrixFloatBase","value":{"cols":2,"rowContent":["-400, -700","400, -700","400, 700","-400, 700"],"rows":4}}},"GuardLifting":{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::MatrixFloatBase","value":{"cols":2,"rowContent":["-150.0, -350","150.0, -350","150, 350","-150, 350"],"rows":4}}}},"type":"::armarx::StringValueMapBase"}' docValue="GuardLifting: -150 -350\n 150 -350\n 150 350\n-150 350\nGuardPlacement: -400 -700\n 400 -700\n 400 700\n-400 700\n"/>
+ </Parameter>
+ <Parameter name="RightThumbThreshold" type="::armarx::FloatVariantData" docType="float" optional="yes">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.8}}' docValue="0.800000011920929"/>
+ </Parameter>
+ <Parameter name="TextAfterWaitForZeroTorque" type="::armarx::StringVariantData" docType="string" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Okay."}}' docValue="Okay."/>
+ </Parameter>
+ <Parameter name="TextBeforeThreeSeconds" type="::armarx::StringVariantData" docType="string" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Please wait a moment"}}' docValue="Please wait a moment"/>
+ </Parameter>
+ </InputParameters>
+ <OutputParameters>
+ <Parameter name="DesiredPoseLeft" type="::armarx::PoseBase" docType="Pose" optional="yes"/>
+ <Parameter name="DesiredPoseRight" type="::armarx::PoseBase" docType="Pose" optional="yes"/>
+ </OutputParameters>
+ <LocalParameters/>
+ <Substates/>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ <Event name="Success"/>
+ <Event name="LoseGuard"/>
+ </Events>
+ <Transitions/>
+</State>
+
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingWithFailureDetection.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingWithFailureDetection.xml
index b9367c5e6192b6faf6fadd678c371cf0df4e8052..f221d7da62e1523cd678e01120422b8d9e4ae87b 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingWithFailureDetection.xml
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/GuardCarryingWithFailureDetection.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="GuardCarryingWithFailureDetection" uuid="4F66B65D-FC23-4C4A-A2F7-3F1DAA4540F5" width="825.833" height="450" type="Normal State">
+<State version="1.2" name="GuardCarryingWithFailureDetection" uuid="4F66B65D-FC23-4C4A-A2F7-3F1DAA4540F5" width="1073.28" height="663.861" type="Normal State">
<InputParameters>
<Parameter name="CloseLeftHandOri" type="::armarx::Vector3Base" docType="Vector3" optional="no">
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":-1.0,"z":0.0}}}' docValue="0\n-1\n0"/>
@@ -24,8 +24,7 @@
<DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"GuardPlacement"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"GuardLifting"}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="GuardPlacement\nGuardLifting"/>
</Parameter>
<Parameter name="LandmarkSceneName" type="::armarx::StringVariantData" docType="string" optional="no">
- <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"50_19/R005"}}' docValue="50_19/R005"/>
- <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"GraphCeBIT"}}' docValue="GraphCeBIT"/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"50_19/R005"}}' docValue="50_19/R005"/>
</Parameter>
<Parameter name="LeftHandAdjVec" type="::armarx::Vector3Base" docType="Vector3" optional="no">
<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":-150.0,"z":-50.0}}}' docValue="0\n-150\n-50"/>
@@ -45,11 +44,12 @@
<Parameter name="PlatformTargetPose" type="::armarx::StringValueMapBase(::armarx::Vector3Base)" docType="Map(Vector3)" optional="no"/>
</LocalParameters>
<Substates>
- <EndState name="Failure" event="Failure" left="695.831" top="159.5" boundingSquareSize="100.002"/>
- <LocalState name="GuardCarryingWithObstacleAvoidance" refuuid="9D06CC13-22D7-4C19-ACBE-A50B628CA63C" left="282.5" top="199.5" boundingSquareSize="100.002"/>
- <LocalState name="RegraspingFailureDetection" refuuid="90F3C6E6-08AA-4924-A787-953A1062DE6A" left="505.833" top="245.333" boundingSquareSize="100.002"/>
- <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="85" top="143.667" boundingSquareSize="100.002"/>
- <EndState name="Success" event="Success" left="505.833" top="344.5" boundingSquareSize="100.002"/>
+ <EndState name="Failure" event="Failure" left="943.28" top="420.167" boundingSquareSize="99.6636"/>
+ <LocalState name="GuardCarryingSkill" refuuid="30629B08-477C-4EC0-8150-549910532B42" left="387.611" top="495.5" boundingSquareSize="99.6636"/>
+ <LocalState name="GuardCarryingWithObstacleAvoidance" refuuid="9D06CC13-22D7-4C19-ACBE-A50B628CA63C" left="363.611" top="188.889" boundingSquareSize="148.221"/>
+ <LocalState name="RegraspingFailureDetection" refuuid="90F3C6E6-08AA-4924-A787-953A1062DE6A" left="701.222" top="250.222" boundingSquareSize="104.779"/>
+ <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="114.167" top="558.167" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="703.222" top="374.167" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
@@ -62,10 +62,10 @@
<ParameterMapping sourceType="Parent" from="LandmarkSceneName" to="SceneName"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="54.2308" posY="181.667"/>
- <SupportPoint posX="60.2808" posY="181.667"/>
- <SupportPoint posX="68.0858" posY="181.667"/>
- <SupportPoint posX="76.4533" posY="181.667"/>
+ <SupportPoint posX="67.1067" posY="596.167"/>
+ <SupportPoint posX="76.5839" posY="596.167"/>
+ <SupportPoint posX="88.7241" posY="596.167"/>
+ <SupportPoint posX="101.186" posY="596.167"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -74,13 +74,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="605.883" posY="268.575"/>
- <SupportPoint posX="629.175" posY="260.975"/>
- <SupportPoint posX="656.95" posY="250.842"/>
- <SupportPoint posX="680.833" posY="239.167"/>
- <SupportPoint posX="683.3" posY="237.958"/>
- <SupportPoint posX="685.792" posY="236.675"/>
- <SupportPoint posX="688.283" posY="235.342"/>
+ <SupportPoint posX="805.943" posY="325.521"/>
+ <SupportPoint posX="843.306" posY="351.958"/>
+ <SupportPoint posX="893.548" posY="387.493"/>
+ <SupportPoint posX="932.609" posY="415.131"/>
</SupportPoints>
</Transition>
<Transition from="RegraspingFailureDetection" to="GuardCarryingWithObstacleAvoidance" eventName="Success">
@@ -98,13 +95,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="505.525" posY="295.342"/>
- <SupportPoint posX="473.667" posY="300.633"/>
- <SupportPoint posX="432.092" posY="303.208"/>
- <SupportPoint posX="397.5" posY="290.833"/>
- <SupportPoint posX="390.233" posY="288.233"/>
- <SupportPoint posX="383.192" posY="284.433"/>
- <SupportPoint posX="376.6" posY="280.033"/>
+ <SupportPoint posX="714.684" posY="250.515"/>
+ <SupportPoint posX="703.632" posY="241.954"/>
+ <SupportPoint posX="690.994" posY="234.044"/>
+ <SupportPoint posX="677.833" posY="229.444"/>
+ <SupportPoint posX="629.252" posY="212.45"/>
+ <SupportPoint posX="571.688" posY="211.249"/>
+ <SupportPoint posX="525.088" posY="214.558"/>
</SupportPoints>
</Transition>
<Transition from="GuardCarryingWithObstacleAvoidance" to="Failure" eventName="Failure">
@@ -112,13 +109,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="382.65" posY="222.217"/>
- <SupportPoint posX="387.633" posY="221.042"/>
- <SupportPoint posX="392.642" posY="219.992"/>
- <SupportPoint posX="397.5" posY="219.167"/>
- <SupportPoint posX="498.275" posY="202.025"/>
- <SupportPoint posX="617.517" posY="198.067"/>
- <SupportPoint posX="687.108" posY="197.358"/>
+ <SupportPoint posX="489.744" posY="189.194"/>
+ <SupportPoint posX="503.698" posY="181.055"/>
+ <SupportPoint posX="519.223" posY="173.631"/>
+ <SupportPoint posX="534.722" posY="169.389"/>
+ <SupportPoint posX="596.068" posY="152.586"/>
+ <SupportPoint posX="615.874" posY="155.027"/>
+ <SupportPoint posX="677.833" posY="169.389"/>
+ <SupportPoint posX="797.139" posY="197.053"/>
+ <SupportPoint posX="838.514" posY="208.847"/>
+ <SupportPoint posX="920.611" posY="299.722"/>
+ <SupportPoint posX="948.594" posY="330.696"/>
+ <SupportPoint posX="967.569" posY="374.268"/>
+ <SupportPoint posX="979.108" posY="407.886"/>
</SupportPoints>
</Transition>
<Transition from="GuardCarryingWithObstacleAvoidance" to="Success" eventName="Success">
@@ -126,13 +129,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="351.725" posY="275.108"/>
- <SupportPoint posX="362.875" posY="293.658"/>
- <SupportPoint posX="378.483" posY="315.025"/>
- <SupportPoint posX="397.5" posY="329.167"/>
- <SupportPoint posX="426.775" posY="350.935"/>
- <SupportPoint posX="465.492" posY="364.187"/>
- <SupportPoint posX="497.317" posY="372.037"/>
+ <SupportPoint posX="463.959" posY="265.069"/>
+ <SupportPoint posX="481.643" posY="288.222"/>
+ <SupportPoint posX="506.752" posY="316.806"/>
+ <SupportPoint posX="534.722" posY="335.5"/>
+ <SupportPoint posX="548.177" posY="344.496"/>
+ <SupportPoint posX="631.169" posY="372.517"/>
+ <SupportPoint posX="690.892" posY="392.067"/>
</SupportPoints>
</Transition>
<Transition from="GuardCarryingWithObstacleAvoidance" to="RegraspingFailureDetection" eventName="LoseGuard">
@@ -157,13 +160,13 @@
</ParameterMappingsToParentsLocal>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="382.683" posY="244.858"/>
- <SupportPoint posX="413.95" posY="249.783"/>
- <SupportPoint posX="454.925" posY="256.842"/>
- <SupportPoint posX="490.833" posY="265"/>
- <SupportPoint posX="493.008" posY="265.492"/>
- <SupportPoint posX="495.225" posY="266.017"/>
- <SupportPoint posX="497.45" posY="266.558"/>
+ <SupportPoint posX="507.454" posY="264.801"/>
+ <SupportPoint posX="516.424" posY="268.506"/>
+ <SupportPoint posX="525.663" posY="271.764"/>
+ <SupportPoint posX="534.722" posY="274.167"/>
+ <SupportPoint posX="584.837" posY="287.43"/>
+ <SupportPoint posX="643.576" posY="290.548"/>
+ <SupportPoint posX="687.519" posY="290.573"/>
</SupportPoints>
</Transition>
<Transition from="ResolveLandmark" to="Failure" eventName="Failure">
@@ -171,25 +174,20 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="185.317" posY="173.892"/>
- <SupportPoint posX="190.267" posY="173.325"/>
- <SupportPoint posX="195.225" posY="172.85"/>
- <SupportPoint posX="200" posY="172.5"/>
- <SupportPoint posX="379.892" posY="159.383"/>
- <SupportPoint posX="425.792" posY="159.875"/>
- <SupportPoint posX="605.833" posY="170.833"/>
- <SupportPoint posX="639.35" posY="172.875"/>
- <SupportPoint posX="647.875" posY="173.583"/>
- <SupportPoint posX="680.833" posY="180"/>
- <SupportPoint posX="683.017" posY="180.425"/>
- <SupportPoint posX="685.233" posY="180.883"/>
- <SupportPoint posX="687.467" posY="181.367"/>
+ <SupportPoint posX="214.128" posY="600.699"/>
+ <SupportPoint posX="306.383" posY="608.013"/>
+ <SupportPoint posX="509.435" posY="619.171"/>
+ <SupportPoint posX="677.833" posY="593.611"/>
+ <SupportPoint posX="789.371" posY="576.682"/>
+ <SupportPoint posX="821.507" posY="573.398"/>
+ <SupportPoint posX="920.611" posY="519.5"/>
+ <SupportPoint posX="928.699" posY="515.102"/>
+ <SupportPoint posX="936.711" posY="509.715"/>
+ <SupportPoint posX="944.301" posY="503.975"/>
</SupportPoints>
</Transition>
- <Transition from="ResolveLandmark" to="GuardCarryingWithObstacleAvoidance" eventName="Success">
+ <Transition from="ResolveLandmark" to="GuardCarryingSkill" eventName="Success">
<ParameterMappings>
- <ParameterMapping sourceType="Parent" from="NullspaceAngleLeft" to="DesiredLeftJointValues"/>
- <ParameterMapping sourceType="Parent" from="NullspaceAngleRight" to="DesiredRightJointValues"/>
<ParameterMapping sourceType="Parent" from="IsConsiderFailure" to="IsConsiderFailure"/>
<ParameterMapping sourceType="Parent" from="IsGuardPlacement" to="IsGuardPlacement"/>
<ParameterMapping sourceType="Parent" from="LeftThumbThreshold" to="LeftThumbThreshold"/>
@@ -201,10 +199,78 @@
</ParameterMappingsToParentsLocal>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="185.092" posY="195.825"/>
- <SupportPoint posX="212.242" posY="203.5"/>
- <SupportPoint posX="245.925" posY="213.025"/>
- <SupportPoint posX="274.242" posY="221.033"/>
+ <SupportPoint posX="214.319" posY="582.105"/>
+ <SupportPoint posX="259.617" posY="569.406"/>
+ <SupportPoint posX="326.432" posY="550.671"/>
+ <SupportPoint posX="375.166" posY="537.007"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="487.623" posY="533.688"/>
+ <SupportPoint posX="502.637" posY="537.311"/>
+ <SupportPoint posX="519.236" posY="540.691"/>
+ <SupportPoint posX="534.722" posY="542.5"/>
+ <SupportPoint posX="597.896" posY="549.879"/>
+ <SupportPoint posX="614.775" posY="550.78"/>
+ <SupportPoint posX="677.833" posY="542.5"/>
+ <SupportPoint posX="767.533" posY="530.723"/>
+ <SupportPoint posX="867.979" posY="500.883"/>
+ <SupportPoint posX="930.961" posY="480.055"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="Success" eventName="Success">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="487.598" posY="528.243"/>
+ <SupportPoint posX="538.453" posY="534.619"/>
+ <SupportPoint posX="618.046" posY="537.499"/>
+ <SupportPoint posX="677.833" posY="506.722"/>
+ <SupportPoint posX="688.72" posY="501.113"/>
+ <SupportPoint posX="705.344" posY="480.988"/>
+ <SupportPoint posX="720.204" posY="460.722"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="RegraspingFailureDetection" eventName="LoseGuard">
+ <ParameterMappings>
+ <ParameterMapping sourceType="Parent" from="CloseLeftHandOri" to="CloseLeftHandOri"/>
+ <ParameterMapping sourceType="Parent" from="CloseRightHandOri" to="CloseRightHandOri"/>
+ <ParameterMapping sourceType="Parent" from="NullspaceAngleLeft" to="DesiredLeftJointValues"/>
+ <ParameterMapping sourceType="Parent" from="NullspaceAngleRight" to="DesiredRightJointValues"/>
+ <ParameterMapping sourceType="Parent" from="HandReturnOffsetVecLeft" to="HandReturnOffsetVecLeft"/>
+ <ParameterMapping sourceType="Parent" from="HandReturnOffsetVecRight" to="HandReturnOffsetVecRight"/>
+ <ParameterMapping sourceType="Parent" from="LeftHandAdjVec" to="LeftHandAdjVec"/>
+ <ParameterMapping sourceType="Parent" from="LeftThumbThreshold" to="LeftThumbThreshold"/>
+ <ParameterMapping sourceType="Value" from="" to="ObjHandRelativePoseName">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"handforward"}}'/>
+ </ParameterMapping>
+ <ParameterMapping sourceType="Parent" from="RightHandAdjVec" to="RightHandAdjVec"/>
+ <ParameterMapping sourceType="Parent" from="RightThumbThreshold" to="RightThumbThreshold"/>
+ </ParameterMappings>
+ <ParameterMappingsToParentsLocal>
+ <ParameterMapping sourceType="Output" from="DesiredPoseLeft" to="DesiredPoseLeft"/>
+ <ParameterMapping sourceType="Output" from="DesiredPoseRight" to="DesiredPoseRight"/>
+ </ParameterMappingsToParentsLocal>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="477.133" posY="495.171"/>
+ <SupportPoint posX="494.344" posY="485.383"/>
+ <SupportPoint posX="515.044" posY="474.65"/>
+ <SupportPoint posX="534.722" posY="467.111"/>
+ <SupportPoint posX="595.826" posY="443.715"/>
+ <SupportPoint posX="630.313" posY="477.589"/>
+ <SupportPoint posX="677.833" posY="432.611"/>
+ <SupportPoint posX="703.67" posY="408.154"/>
+ <SupportPoint posX="684.567" posY="387.582"/>
+ <SupportPoint posX="700.833" posY="355.944"/>
+ <SupportPoint posX="704.232" posY="349.338"/>
+ <SupportPoint posX="708.296" posY="342.732"/>
+ <SupportPoint posX="712.64" posY="336.382"/>
</SupportPoints>
</Transition>
</Transitions>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/InsertGuardV2.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/InsertGuardV2.xml
index 2b54251054b6690da2ce3044b4341cd650a2d44a..feba701dda0e37d78246bd36254846c0a05a9b99 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/InsertGuardV2.xml
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/InsertGuardV2.xml
@@ -31,7 +31,7 @@
<Parameter name="Value" type="::armarx::IntVariantData" docType="int" optional="no"/>
</LocalParameters>
<Substates>
- <LocalState name="CarryAndRegrasp" refuuid="181CF11B-48EF-440B-953A-A7C204A16995" left="1070" top="380.333" boundingSquareSize="100.002"/>
+ <LocalState name="CarryAndRegrasp" refuuid="181CF11B-48EF-440B-953A-A7C204A16995" left="1069.86" top="407.356" boundingSquareSize="100.002"/>
<LocalState name="DummyState" refuuid="66424431-C806-4E7D-B288-2AC1341D6F48" left="880" top="363.333" boundingSquareSize="100.002"/>
<EndState name="Failure" event="Failure" left="1863.33" top="290.333" boundingSquareSize="100.002"/>
<LocalState name="GoToPickUp" refuuid="2EFBD81F-D1D8-4283-9065-3EC47ABA7803" left="483.333" top="252.167" boundingSquareSize="100.002"/>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/RemoveGuardV2.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/RemoveGuardV2.xml
index ef4b7494fdcc30c540c4d8fdda061dae5ca5d2d7..b2722056a44bb3971459296bd72561c5a243e2c0 100644
--- a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/RemoveGuardV2.xml
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/RemoveGuardV2.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="RemoveGuardV2" uuid="BD03CA34-6FD6-491D-A962-D61F66D9E995" width="3517.67" height="1075.14" type="Normal State">
+<State version="1.2" name="RemoveGuardV2" uuid="BD03CA34-6FD6-491D-A962-D61F66D9E995" width="3580.28" height="1084.89" type="Normal State">
<InputParameters>
<Parameter name="DesiredNullspaceAngleLeft" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" docType="List(float)" optional="yes">
<DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.157}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.076}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.542}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.511}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1.681}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":-0.589}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.379}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.149}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="0.157000005245209\n-0.0759999975562096\n0.541999995708466\n0.510999977588654\n1.68099999427795\n-0.58899998664856\n0.379000008106232\n0.149000003933907"/>
@@ -70,22 +70,22 @@
<Parameter name="RightThumbThreshold" type="::armarx::FloatVariantData" docType="float" optional="no"/>
</LocalParameters>
<Substates>
- <LocalState name="CarryAndRegrasp" refuuid="181CF11B-48EF-440B-953A-A7C204A16995" left="1835.33" top="633.5" boundingSquareSize="99.6636"/>
- <RemoteState name="CloseBothHands" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="2084.5" top="615.5" boundingSquareSize="99.6636"/>
- <LocalState name="DummyState" refuuid="66424431-C806-4E7D-B288-2AC1341D6F48" left="1110.83" top="485.889" boundingSquareSize="99.6636"/>
- <LocalState name="DummyState_2" refuuid="66424431-C806-4E7D-B288-2AC1341D6F48" left="1597.67" top="563.833" boundingSquareSize="99.6636"/>
- <EndState name="Failure" event="Failure" left="3387.67" top="504.5" boundingSquareSize="99.6636"/>
- <LocalState name="GoToDefaultPose" refuuid="D5FC47DA-A2DE-4DD1-B389-E8D9B9417932" left="861.667" top="407.778" boundingSquareSize="99.6636"/>
- <LocalState name="GoToGuardLowering" refuuid="8F02B4E0-5B56-4789-9771-D68B6FB0B961" left="612.5" top="326.833" boundingSquareSize="99.6636"/>
- <RemoteState name="GoToLandmarkWithObstacleAvoidance" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="3086.47" top="859.5" boundingSquareSize="152.058"/>
- <RemoteState name="GoToLandmarkWithObstacleAvoidance_2" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="567.367" top="436.868" boundingSquareSize="100"/>
- <RemoteState name="GuardLowering" refuuid="A9221FE2-D60C-4009-B516-1440CC1E7932" proxyName="DSControllerGroupRemoteStateOfferer" left="1348.5" top="483.444" boundingSquareSize="99.6636"/>
- <RemoteState name="LookStraight" refuuid="2D4453C8-0CEB-4773-9493-ADD75AD31346" proxyName="Armar6HeadGroupRemoteStateOfferer" left="114.167" top="174.667" boundingSquareSize="99.6636"/>
- <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="363.333" top="238.333" boundingSquareSize="99.6636"/>
- <RemoteState name="OpenBothHands" refuuid="88173D79-82C3-4FE1-ACB6-7296D8AA85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="2582.83" top="690.889" boundingSquareSize="99.6636"/>
- <LocalState name="PutDownGuard" refuuid="4D5C0ED4-9B27-4647-B07A-F298263A49D1" left="2333.67" top="633.556" boundingSquareSize="99.6636"/>
- <LocalState name="RaiseAndGoToDefaultPose" refuuid="FC7E4DC8-A4D1-4FA6-9924-82CED5D2BD95" left="2832.56" top="784.333" boundingSquareSize="104.779"/>
- <EndState name="Success" event="Success" left="3387.67" top="871.222" boundingSquareSize="99.6636"/>
+ <LocalState name="CarryAndRegrasp" refuuid="181CF11B-48EF-440B-953A-A7C204A16995" left="1897.94" top="530" boundingSquareSize="99.6636"/>
+ <RemoteState name="CloseBothHands" refuuid="4BFA225C-8FA0-4214-89F3-3D717C2585CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="2147.11" top="512" boundingSquareSize="99.6636"/>
+ <LocalState name="DummyState" refuuid="66424431-C806-4E7D-B288-2AC1341D6F48" left="1173.44" top="386.222" boundingSquareSize="99.6636"/>
+ <LocalState name="DummyState_2" refuuid="66424431-C806-4E7D-B288-2AC1341D6F48" left="1660.28" top="478.222" boundingSquareSize="99.6636"/>
+ <EndState name="Failure" event="Failure" left="3450.28" top="538.722" boundingSquareSize="99.6636"/>
+ <LocalState name="GoToDefaultPose" refuuid="D5FC47DA-A2DE-4DD1-B389-E8D9B9417932" left="924.278" top="324.722" boundingSquareSize="99.6636"/>
+ <LocalState name="GoToGuardLowering" refuuid="8F02B4E0-5B56-4789-9771-D68B6FB0B961" left="643.806" top="275.722" boundingSquareSize="99.6636"/>
+ <RemoteState name="GoToLandmarkWithObstacleAvoidance" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="3149.08" top="778.389" boundingSquareSize="152.058"/>
+ <RemoteState name="GoToLandmarkWithObstacleAvoidance_2" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="612.806" top="575.722" boundingSquareSize="162.279"/>
+ <RemoteState name="GuardLowering" refuuid="A9221FE2-D60C-4009-B516-1440CC1E7932" proxyName="DSControllerGroupRemoteStateOfferer" left="1411.11" top="385.056" boundingSquareSize="99.6636"/>
+ <RemoteState name="LookStraight" refuuid="2D4453C8-0CEB-4773-9493-ADD75AD31346" proxyName="Armar6HeadGroupRemoteStateOfferer" left="114.167" top="280.722" boundingSquareSize="99.6636"/>
+ <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="363.333" top="566.722" boundingSquareSize="99.6636"/>
+ <RemoteState name="OpenBothHands" refuuid="88173D79-82C3-4FE1-ACB6-7296D8AA85CF" proxyName="Armar6LowLevelHandControlGroupRemoteStateOfferer" left="2645.44" top="610.389" boundingSquareSize="99.6636"/>
+ <LocalState name="PutDownGuard" refuuid="4D5C0ED4-9B27-4647-B07A-F298263A49D1" left="2396.28" top="552.778" boundingSquareSize="99.6636"/>
+ <LocalState name="RaiseAndGoToDefaultPose" refuuid="FC7E4DC8-A4D1-4FA6-9924-82CED5D2BD95" left="2895.17" top="703.111" boundingSquareSize="104.779"/>
+ <EndState name="Success" event="Success" left="3450.28" top="879.889" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
@@ -97,10 +97,10 @@
<ParameterMapping sourceType="Parent" from="IsGuardPlacement" to="IsGuardPlacement"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="67.1067" posY="216.667"/>
- <SupportPoint posX="76.5839" posY="216.667"/>
- <SupportPoint posX="88.7241" posY="216.667"/>
- <SupportPoint posX="101.186" posY="216.667"/>
+ <SupportPoint posX="67.1067" posY="322.722"/>
+ <SupportPoint posX="76.5839" posY="322.722"/>
+ <SupportPoint posX="88.7241" posY="322.722"/>
+ <SupportPoint posX="101.186" posY="322.722"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -109,22 +109,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="961.628" posY="443.626"/>
- <SupportPoint posX="1011.82" posY="436.138"/>
- <SupportPoint posX="1091.48" posY="426.222"/>
- <SupportPoint posX="1160.83" posY="426.222"/>
- <SupportPoint posX="1160.83" posY="426.222"/>
- <SupportPoint posX="1160.83" posY="426.222"/>
- <SupportPoint posX="1766.5" posY="426.222"/>
- <SupportPoint posX="2096.55" posY="426.222"/>
- <SupportPoint posX="2178.2" posY="391.722"/>
- <SupportPoint posX="2508.25" posY="391.722"/>
- <SupportPoint posX="2508.25" posY="391.722"/>
- <SupportPoint posX="2508.25" posY="391.722"/>
- <SupportPoint posX="3162.47" posY="391.722"/>
- <SupportPoint posX="3250.38" posY="391.722"/>
- <SupportPoint posX="3336.76" posY="451.548"/>
- <SupportPoint posX="3388.77" posY="495.823"/>
+ <SupportPoint posX="1024.47" posY="355.561"/>
+ <SupportPoint posX="1074.51" posY="343.601"/>
+ <SupportPoint posX="1153.74" posY="327.833"/>
+ <SupportPoint posX="1223.44" posY="327.833"/>
+ <SupportPoint posX="1223.44" posY="327.833"/>
+ <SupportPoint posX="1223.44" posY="327.833"/>
+ <SupportPoint posX="2072.53" posY="327.833"/>
+ <SupportPoint posX="2294.09" posY="327.833"/>
+ <SupportPoint posX="2349.29" posY="311.222"/>
+ <SupportPoint posX="2570.86" posY="311.222"/>
+ <SupportPoint posX="2570.86" posY="311.222"/>
+ <SupportPoint posX="2570.86" posY="311.222"/>
+ <SupportPoint posX="3225.08" posY="311.222"/>
+ <SupportPoint posX="3348.13" posY="311.222"/>
+ <SupportPoint posX="3437.45" posY="450.206"/>
+ <SupportPoint posX="3477.32" posY="526.681"/>
</SupportPoints>
</Transition>
<Transition from="GoToDefaultPose" to="DummyState" eventName="Success">
@@ -134,13 +134,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="961.768" posY="480.489"/>
- <SupportPoint posX="969.243" posY="484.08"/>
- <SupportPoint posX="976.961" posY="487.428"/>
- <SupportPoint posX="984.5" posY="490.111"/>
- <SupportPoint posX="1021.16" posY="503.17"/>
- <SupportPoint posX="1063.9" posY="511.999"/>
- <SupportPoint posX="1098.12" posY="517.609"/>
+ <SupportPoint posX="1024.21" posY="385.308"/>
+ <SupportPoint posX="1031.84" posY="387.608"/>
+ <SupportPoint posX="1039.66" posY="389.818"/>
+ <SupportPoint posX="1047.11" posY="391.722"/>
+ <SupportPoint posX="1084.33" posY="401.203"/>
+ <SupportPoint posX="1126.55" posY="409.547"/>
+ <SupportPoint posX="1160.35" posY="415.655"/>
</SupportPoints>
</Transition>
<Transition from="GuardLowering" to="Failure" eventName="Failure">
@@ -148,19 +148,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1448.46" posY="519.883"/>
- <SupportPoint posX="1498.68" posY="512.025"/>
- <SupportPoint posX="1578.28" posY="501.611"/>
- <SupportPoint posX="1647.67" posY="501.611"/>
- <SupportPoint posX="1647.67" posY="501.611"/>
- <SupportPoint posX="1647.67" posY="501.611"/>
- <SupportPoint posX="2009.92" posY="501.611"/>
- <SupportPoint posX="2612.26" posY="501.611"/>
- <SupportPoint posX="2772.62" posY="406.838"/>
- <SupportPoint posX="3365" posY="515.667"/>
- <SupportPoint posX="3368.45" posY="516.293"/>
- <SupportPoint posX="3371.9" posY="517.072"/>
- <SupportPoint posX="3375.35" posY="517.954"/>
+ <SupportPoint posX="1511.2" posY="427.206"/>
+ <SupportPoint posX="1561.54" posY="424.587"/>
+ <SupportPoint posX="1641.28" posY="421.111"/>
+ <SupportPoint posX="1710.28" posY="421.111"/>
+ <SupportPoint posX="1710.28" posY="421.111"/>
+ <SupportPoint posX="1710.28" posY="421.111"/>
+ <SupportPoint posX="2072.53" posY="421.111"/>
+ <SupportPoint posX="2619.16" posY="421.111"/>
+ <SupportPoint posX="2756.52" posY="432.356"/>
+ <SupportPoint posX="3301.11" posY="479.889"/>
+ <SupportPoint posX="3357.59" posY="484.808"/>
+ <SupportPoint posX="3377.27" posY="469.168"/>
+ <SupportPoint posX="3427.61" posY="495.222"/>
+ <SupportPoint posX="3442.82" posY="503.093"/>
+ <SupportPoint posX="3456.36" posY="515.488"/>
+ <SupportPoint posX="3467.61" posY="528.227"/>
</SupportPoints>
</Transition>
<Transition from="GuardLowering" to="DummyState_2" eventName="Success">
@@ -170,13 +173,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1448.72" posY="556.07"/>
- <SupportPoint posX="1456.13" posY="559.558"/>
- <SupportPoint posX="1463.79" posY="562.829"/>
- <SupportPoint posX="1471.33" posY="565.5"/>
- <SupportPoint posX="1508.13" posY="578.61"/>
- <SupportPoint posX="1550.81" posY="588.027"/>
- <SupportPoint posX="1585.06" posY="594.263"/>
+ <SupportPoint posX="1510.94" posY="472.235"/>
+ <SupportPoint posX="1518.36" posY="477.103"/>
+ <SupportPoint posX="1526.15" posY="481.537"/>
+ <SupportPoint posX="1533.94" posY="485"/>
+ <SupportPoint posX="1569.72" posY="500.806"/>
+ <SupportPoint posX="1612.78" posY="509.099"/>
+ <SupportPoint posX="1647.41" posY="513.443"/>
</SupportPoints>
</Transition>
<Transition from="CarryAndRegrasp" to="Failure" eventName="Failure">
@@ -184,19 +187,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1892.36" posY="681.254"/>
- <SupportPoint posX="1914.98" posY="751.608"/>
- <SupportPoint posX="1992.28" posY="953.946"/>
- <SupportPoint posX="2134.5" posY="953.946"/>
- <SupportPoint posX="2134.5" posY="953.946"/>
- <SupportPoint posX="2134.5" posY="953.946"/>
- <SupportPoint posX="2508.25" posY="953.946"/>
- <SupportPoint posX="2889.28" posY="953.946"/>
- <SupportPoint posX="3081.33" posY="1177.72"/>
- <SupportPoint posX="3365" posY="923.279"/>
- <SupportPoint posX="3377.27" posY="912.251"/>
- <SupportPoint posX="3413.56" posY="694.492"/>
- <SupportPoint posX="3429.78" posY="593.33"/>
+ <SupportPoint posX="1953.44" posY="577.894"/>
+ <SupportPoint posX="1972.35" posY="654.063"/>
+ <SupportPoint posX="2042.88" posY="886.222"/>
+ <SupportPoint posX="2197.11" posY="886.222"/>
+ <SupportPoint posX="2197.11" posY="886.222"/>
+ <SupportPoint posX="2197.11" posY="886.222"/>
+ <SupportPoint posX="2570.86" posY="886.222"/>
+ <SupportPoint posX="2761.76" posY="886.222"/>
+ <SupportPoint posX="3296.64" posY="958.716"/>
+ <SupportPoint posX="3427.61" posY="819.778"/>
+ <SupportPoint posX="3454.06" posY="791.692"/>
+ <SupportPoint posX="3478.34" posY="688.409"/>
+ <SupportPoint posX="3491.12" posY="625.556"/>
</SupportPoints>
</Transition>
<Transition from="CarryAndRegrasp" to="CloseBothHands" eventName="Success">
@@ -217,10 +220,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1935.81" posY="657.5"/>
- <SupportPoint posX="1974.91" posY="657.5"/>
- <SupportPoint posX="2029.34" posY="657.5"/>
- <SupportPoint posX="2071.38" posY="657.5"/>
+ <SupportPoint posX="1998.42" posY="554"/>
+ <SupportPoint posX="2037.52" posY="554"/>
+ <SupportPoint posX="2091.95" posY="554"/>
+ <SupportPoint posX="2133.99" posY="554"/>
</SupportPoints>
</Transition>
<Transition from="PutDownGuard" to="Failure" eventName="Failure">
@@ -228,16 +231,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2433.76" posY="662.253"/>
- <SupportPoint posX="2441.29" posY="660.988"/>
- <SupportPoint posX="2449.09" posY="659.787"/>
- <SupportPoint posX="2456.5" posY="658.778"/>
- <SupportPoint posX="2858.49" posY="604.102"/>
- <SupportPoint posX="2970.29" posY="664.106"/>
- <SupportPoint posX="3365" posY="570.611"/>
- <SupportPoint posX="3368.45" posY="569.806"/>
- <SupportPoint posX="3371.9" posY="568.873"/>
- <SupportPoint posX="3375.35" posY="567.851"/>
+ <SupportPoint posX="2496.37" posY="580.961"/>
+ <SupportPoint posX="2503.91" posY="579.888"/>
+ <SupportPoint posX="2511.7" posY="578.929"/>
+ <SupportPoint posX="2519.11" posY="578.278"/>
+ <SupportPoint posX="2875.61" posY="546.602"/>
+ <SupportPoint posX="2966.33" posY="565.359"/>
+ <SupportPoint posX="3324.11" posY="561.667"/>
+ <SupportPoint posX="3370.11" posY="561.194"/>
+ <SupportPoint posX="3381.87" posY="557.284"/>
+ <SupportPoint posX="3427.61" posY="561.667"/>
+ <SupportPoint posX="3430.81" posY="561.973"/>
+ <SupportPoint posX="3434.13" posY="562.369"/>
+ <SupportPoint posX="3437.58" posY="562.817"/>
</SupportPoints>
</Transition>
<Transition from="PutDownGuard" to="OpenBothHands" eventName="Success">
@@ -256,13 +262,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2433.88" posY="691.233"/>
- <SupportPoint posX="2441.42" posY="693.84"/>
- <SupportPoint posX="2449.09" posY="696.319"/>
- <SupportPoint posX="2456.5" posY="698.389"/>
- <SupportPoint posX="2493.68" posY="708.79"/>
- <SupportPoint posX="2535.98" posY="717.185"/>
- <SupportPoint posX="2569.97" posY="723.101"/>
+ <SupportPoint posX="2496.37" posY="610.452"/>
+ <SupportPoint posX="2503.91" posY="613.161"/>
+ <SupportPoint posX="2511.7" posY="615.742"/>
+ <SupportPoint posX="2519.11" posY="617.889"/>
+ <SupportPoint posX="2556.17" posY="628.571"/>
+ <SupportPoint posX="2598.59" posY="636.979"/>
+ <SupportPoint posX="2632.45" posY="642.818"/>
</SupportPoints>
</Transition>
<Transition from="RaiseAndGoToDefaultPose" to="Failure" eventName="Failure">
@@ -270,19 +276,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2937.07" posY="813.274"/>
- <SupportPoint posX="3021.15" posY="798.707"/>
- <SupportPoint posX="3182.02" posY="770.328"/>
- <SupportPoint posX="3238.5" posY="757.167"/>
- <SupportPoint posX="3295.36" posY="743.916"/>
- <SupportPoint posX="3321.43" posY="760.348"/>
- <SupportPoint posX="3365" posY="721.389"/>
- <SupportPoint posX="3402.06" posY="688.243"/>
- <SupportPoint posX="3420.58" posY="633.503"/>
- <SupportPoint posX="3429.66" posY="593.292"/>
+ <SupportPoint posX="2999.56" posY="733.336"/>
+ <SupportPoint posX="3096.28" posY="715.281"/>
+ <SupportPoint posX="3293.83" posY="678.392"/>
+ <SupportPoint posX="3301.11" posY="676.667"/>
+ <SupportPoint posX="3357.97" posY="663.314"/>
+ <SupportPoint posX="3376.37" posY="669.038"/>
+ <SupportPoint posX="3427.61" posY="640.889"/>
+ <SupportPoint posX="3437.19" posY="635.599"/>
+ <SupportPoint posX="3446.65" posY="628.827"/>
+ <SupportPoint posX="3455.34" posY="621.646"/>
</SupportPoints>
</Transition>
- <Transition from="RaiseAndGoToDefaultPose" to="GoToLandmarkWithObstacleAvoidance" eventName="Success">
+ <Transition from="RaiseAndGoToDefaultPose" to="Success" eventName="Success">
<ParameterMappings>
<ParameterMapping sourceType="Parent" from="LandmarkAfterPutdown" to="LandmarkName"/>
<ParameterMapping sourceType="Value" from="" to="RotateIntoMovementDirection">
@@ -292,13 +298,7 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2936.94" posY="842.152"/>
- <SupportPoint posX="2944.61" posY="844.707"/>
- <SupportPoint posX="2952.41" posY="847.135"/>
- <SupportPoint posX="2959.94" posY="849.167"/>
- <SupportPoint posX="2996.74" posY="859.121"/>
- <SupportPoint posX="3037.89" posY="867.426"/>
- <SupportPoint posX="3073.54" posY="873.738"/>
+ <SupportPoint posX="3208.1" posY="879.563"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose" to="Failure" eventName="Failure">
@@ -306,25 +306,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="463.409" posY="266.257"/>
- <SupportPoint posX="513.69" posY="262.513"/>
- <SupportPoint posX="593.411" posY="257.556"/>
- <SupportPoint posX="662.5" posY="257.556"/>
- <SupportPoint posX="662.5" posY="257.556"/>
- <SupportPoint posX="662.5" posY="257.556"/>
- <SupportPoint posX="1766.5" posY="257.556"/>
- <SupportPoint posX="1985.51" posY="257.556"/>
- <SupportPoint posX="2040.07" posY="240.944"/>
- <SupportPoint posX="2259.08" posY="240.944"/>
- <SupportPoint posX="2259.08" posY="240.944"/>
- <SupportPoint posX="2259.08" posY="240.944"/>
- <SupportPoint posX="3162.47" posY="240.944"/>
- <SupportPoint posX="3264.57" posY="240.944"/>
- <SupportPoint posX="3297.66" posY="272.748"/>
- <SupportPoint posX="3365" posY="349.556"/>
- <SupportPoint posX="3400.65" posY="390.176"/>
- <SupportPoint posX="3419.56" posY="449.951"/>
- <SupportPoint posX="3429.14" posY="492.181"/>
+ <SupportPoint posX="418.01" posY="630.948"/>
+ <SupportPoint posX="434.685" posY="732.161"/>
+ <SupportPoint posX="500.938" posY="1037"/>
+ <SupportPoint posX="693.806" posY="1037"/>
+ <SupportPoint posX="693.806" posY="1037"/>
+ <SupportPoint posX="693.806" posY="1037"/>
+ <SupportPoint posX="1829.11" posY="1037"/>
+ <SupportPoint posX="2269.56" posY="1037"/>
+ <SupportPoint posX="2379.58" posY="1054.89"/>
+ <SupportPoint posX="2820.03" posY="1054.89"/>
+ <SupportPoint posX="2820.03" posY="1054.89"/>
+ <SupportPoint posX="2820.03" posY="1054.89"/>
+ <SupportPoint posX="3225.08" posY="1054.89"/>
+ <SupportPoint posX="3320.92" posY="1054.89"/>
+ <SupportPoint posX="3365.89" posY="1054.15"/>
+ <SupportPoint posX="3427.61" posY="980.778"/>
+ <SupportPoint posX="3430.42" posY="977.369"/>
+ <SupportPoint posX="3473.1" posY="733.451"/>
+ <SupportPoint posX="3491.76" posY="625.811"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose" to="GoToLandmarkWithObstacleAvoidance_2" eventName="Success">
@@ -337,7 +337,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="500.121" posY="381.328"/>
+ <SupportPoint posX="463.473" posY="598.722"/>
+ <SupportPoint posX="501.053" posY="598.722"/>
+ <SupportPoint posX="553.582" posY="598.722"/>
+ <SupportPoint posX="598.994" posY="598.722"/>
</SupportPoints>
</Transition>
<Transition from="GoToGuardLowering" to="Failure" eventName="Failure">
@@ -345,25 +348,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="712.614" posY="350.833"/>
- <SupportPoint posX="762.921" posY="350.833"/>
- <SupportPoint posX="842.667" posY="350.833"/>
- <SupportPoint posX="911.667" posY="350.833"/>
- <SupportPoint posX="911.667" posY="350.833"/>
- <SupportPoint posX="911.667" posY="350.833"/>
- <SupportPoint posX="1766.5" posY="350.833"/>
- <SupportPoint posX="1986.02" posY="350.833"/>
- <SupportPoint posX="2039.56" posY="316.333"/>
- <SupportPoint posX="2259.08" posY="316.333"/>
- <SupportPoint posX="2259.08" posY="316.333"/>
- <SupportPoint posX="2259.08" posY="316.333"/>
- <SupportPoint posX="3162.47" posY="316.333"/>
- <SupportPoint posX="3263.29" posY="316.333"/>
- <SupportPoint posX="3291.53" posY="349.568"/>
- <SupportPoint posX="3365" posY="418.556"/>
- <SupportPoint posX="3387.11" posY="439.243"/>
- <SupportPoint posX="3404.61" posY="468.121"/>
- <SupportPoint posX="3416.88" posY="492.794"/>
+ <SupportPoint posX="744.048" posY="286.05"/>
+ <SupportPoint posX="799.836" posY="272.084"/>
+ <SupportPoint posX="892.807" posY="252.444"/>
+ <SupportPoint posX="974.278" posY="252.444"/>
+ <SupportPoint posX="974.278" posY="252.444"/>
+ <SupportPoint posX="974.278" posY="252.444"/>
+ <SupportPoint posX="1585.69" posY="252.444"/>
+ <SupportPoint posX="1912.93" posY="252.444"/>
+ <SupportPoint posX="1994.46" posY="235.833"/>
+ <SupportPoint posX="2321.69" posY="235.833"/>
+ <SupportPoint posX="2321.69" posY="235.833"/>
+ <SupportPoint posX="2321.69" posY="235.833"/>
+ <SupportPoint posX="3225.08" posY="235.833"/>
+ <SupportPoint posX="3248.47" posY="235.833"/>
+ <SupportPoint posX="3401.16" posY="332.165"/>
+ <SupportPoint posX="3427.61" posY="366.167"/>
+ <SupportPoint posX="3464.41" posY="413.304"/>
+ <SupportPoint posX="3483.32" posY="480.298"/>
+ <SupportPoint posX="3492.52" posY="525.748"/>
</SupportPoints>
</Transition>
<Transition from="GoToGuardLowering" to="GoToDefaultPose" eventName="Success">
@@ -375,13 +378,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="684.478" posY="375.558"/>
- <SupportPoint posX="697.869" posY="389.128"/>
- <SupportPoint posX="716.077" posY="405.101"/>
- <SupportPoint posX="735.333" posY="414.722"/>
- <SupportPoint posX="770.562" posY="432.343"/>
- <SupportPoint posX="813.802" posY="441.594"/>
- <SupportPoint posX="848.634" posY="446.437"/>
+ <SupportPoint posX="743.946" posY="312.053"/>
+ <SupportPoint posX="790.763" posY="323.578"/>
+ <SupportPoint posX="860.824" posY="340.816"/>
+ <SupportPoint posX="911.373" posY="353.248"/>
</SupportPoints>
</Transition>
<Transition from="DummyState" to="GuardLowering" eventName="Failure">
@@ -391,10 +391,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1211.24" posY="526.438"/>
- <SupportPoint posX="1247.44" posY="526.822"/>
- <SupportPoint posX="1296.49" posY="527.346"/>
- <SupportPoint posX="1335.25" posY="527.767"/>
+ <SupportPoint posX="1273.85" posY="427.04"/>
+ <SupportPoint posX="1310.08" posY="427.615"/>
+ <SupportPoint posX="1359.14" posY="428.407"/>
+ <SupportPoint posX="1397.86" posY="429.033"/>
</SupportPoints>
</Transition>
<Transition from="DummyState_2" to="CarryAndRegrasp" eventName="Failure">
@@ -411,10 +411,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1698.01" posY="615.218"/>
- <SupportPoint posX="1734.43" posY="623.422"/>
- <SupportPoint posX="1783.75" posY="634.564"/>
- <SupportPoint posX="1822.59" posY="643.342"/>
+ <SupportPoint posX="1760.62" posY="525.812"/>
+ <SupportPoint posX="1797.04" posY="531.281"/>
+ <SupportPoint posX="1846.36" posY="538.705"/>
+ <SupportPoint posX="1885.21" posY="544.57"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands" to="Failure" eventName="Failure">
@@ -422,13 +422,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2184.59" posY="626.629"/>
- <SupportPoint posX="2192" posY="623.153"/>
- <SupportPoint posX="2199.67" posY="620.074"/>
- <SupportPoint posX="2207.33" posY="617.889"/>
- <SupportPoint posX="2429.92" posY="553.949"/>
- <SupportPoint posX="3155.96" posY="544.238"/>
- <SupportPoint posX="3374.84" posY="542.768"/>
+ <SupportPoint posX="2247.07" posY="527.933"/>
+ <SupportPoint posX="2254.61" posY="524.994"/>
+ <SupportPoint posX="2262.41" posY="522.464"/>
+ <SupportPoint posX="2269.94" posY="520.778"/>
+ <SupportPoint posX="2586.58" posY="450.628"/>
+ <SupportPoint posX="2675.38" posY="508.894"/>
+ <SupportPoint posX="2999.56" posY="515.667"/>
+ <SupportPoint posX="3189.94" posY="519.641"/>
+ <SupportPoint posX="3244.76" posY="480.336"/>
+ <SupportPoint posX="3427.61" posY="533.556"/>
+ <SupportPoint posX="3431.32" posY="534.642"/>
+ <SupportPoint posX="3435.15" posY="535.958"/>
+ <SupportPoint posX="3438.86" posY="537.453"/>
</SupportPoints>
</Transition>
<Transition from="CloseBothHands" to="PutDownGuard" eventName="Success">
@@ -443,10 +449,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2184.97" posY="660.349"/>
- <SupportPoint posX="2224.07" posY="662.547"/>
- <SupportPoint posX="2278.51" posY="665.627"/>
- <SupportPoint posX="2320.54" posY="668.003"/>
+ <SupportPoint posX="2247.58" posY="561.245"/>
+ <SupportPoint posX="2286.68" posY="566.854"/>
+ <SupportPoint posX="2341.12" posY="574.687"/>
+ <SupportPoint posX="2383.16" posY="580.718"/>
</SupportPoints>
</Transition>
<Transition from="OpenBothHands" to="Failure" eventName="Failure">
@@ -454,13 +460,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2683.05" posY="732.288"/>
- <SupportPoint posX="2829.1" posY="729.707"/>
- <SupportPoint posX="3250" posY="716.214"/>
- <SupportPoint posX="3365" posY="646"/>
- <SupportPoint posX="3385.83" posY="633.273"/>
- <SupportPoint posX="3402.31" posY="612.075"/>
- <SupportPoint posX="3414.32" posY="592.167"/>
+ <SupportPoint posX="2745.79" posY="647.597"/>
+ <SupportPoint posX="2886.22" posY="634.219"/>
+ <SupportPoint posX="3282.33" posY="596.499"/>
+ <SupportPoint posX="3437.19" posY="581.741"/>
</SupportPoints>
</Transition>
<Transition from="OpenBothHands" to="RaiseAndGoToDefaultPose" eventName="Success">
@@ -473,13 +476,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2677.43" posY="774.659"/>
- <SupportPoint posX="2686.37" posY="781.202"/>
- <SupportPoint posX="2695.96" posY="787.258"/>
- <SupportPoint posX="2705.67" posY="791.667"/>
- <SupportPoint posX="2741.19" posY="807.716"/>
- <SupportPoint posX="2784.12" posY="815.421"/>
- <SupportPoint posX="2819.01" posY="819.088"/>
+ <SupportPoint posX="2740.17" posY="694.108"/>
+ <SupportPoint posX="2748.98" posY="700.651"/>
+ <SupportPoint posX="2758.57" posY="706.72"/>
+ <SupportPoint posX="2768.28" posY="711.167"/>
+ <SupportPoint posX="2803.8" posY="727.356"/>
+ <SupportPoint posX="2846.73" posY="735.355"/>
+ <SupportPoint posX="2881.62" posY="739.303"/>
</SupportPoints>
</Transition>
<Transition from="LookStraight" to="Failure" eventName="Failure">
@@ -487,25 +490,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="214.473" posY="205.563"/>
- <SupportPoint posX="264.6" posY="195.481"/>
- <SupportPoint posX="343.899" posY="182.167"/>
- <SupportPoint posX="413.333" posY="182.167"/>
- <SupportPoint posX="413.333" posY="182.167"/>
- <SupportPoint posX="413.333" posY="182.167"/>
- <SupportPoint posX="1647.67" posY="182.167"/>
- <SupportPoint posX="1808.79" posY="182.167"/>
- <SupportPoint posX="1848.79" posY="165.556"/>
- <SupportPoint posX="2009.92" posY="165.556"/>
- <SupportPoint posX="2009.92" posY="165.556"/>
- <SupportPoint posX="2009.92" posY="165.556"/>
- <SupportPoint posX="3162.47" posY="165.556"/>
- <SupportPoint posX="3265.21" posY="165.556"/>
- <SupportPoint posX="3301.37" posY="196.12"/>
- <SupportPoint posX="3365" posY="276.722"/>
- <SupportPoint posX="3391.32" posY="309.996"/>
- <SupportPoint posX="3416.11" posY="424.536"/>
- <SupportPoint posX="3428.89" posY="491.9"/>
+ <SupportPoint posX="204.481" posY="280.977"/>
+ <SupportPoint posX="250.557" posY="237.942"/>
+ <SupportPoint posX="330.406" posY="177.056"/>
+ <SupportPoint posX="413.333" posY="177.056"/>
+ <SupportPoint posX="413.333" posY="177.056"/>
+ <SupportPoint posX="413.333" posY="177.056"/>
+ <SupportPoint posX="1710.28" posY="177.056"/>
+ <SupportPoint posX="1982.06" posY="177.056"/>
+ <SupportPoint posX="2049.91" posY="160.444"/>
+ <SupportPoint posX="2321.69" posY="160.444"/>
+ <SupportPoint posX="2321.69" posY="160.444"/>
+ <SupportPoint posX="2321.69" posY="160.444"/>
+ <SupportPoint posX="3225.08" posY="160.444"/>
+ <SupportPoint posX="3259.46" posY="160.444"/>
+ <SupportPoint posX="3408.32" posY="271.522"/>
+ <SupportPoint posX="3427.61" posY="299.722"/>
+ <SupportPoint posX="3474.89" posY="368.786"/>
+ <SupportPoint posX="3491.5" posY="466.804"/>
+ <SupportPoint posX="3497.25" posY="525.544"/>
</SupportPoints>
</Transition>
<Transition from="LookStraight" to="NavigationPose" eventName="Success">
@@ -513,13 +516,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="214.166" posY="238.708"/>
- <SupportPoint posX="221.718" posY="241.494"/>
- <SupportPoint posX="229.487" posY="244.062"/>
- <SupportPoint posX="237" posY="246.056"/>
- <SupportPoint posX="273.902" posY="255.882"/>
- <SupportPoint posX="316.273" posY="261.874"/>
- <SupportPoint posX="350.237" posY="265.452"/>
+ <SupportPoint posX="202.014" posY="364.646"/>
+ <SupportPoint posX="249.075" posY="416.779"/>
+ <SupportPoint posX="328.936" posY="505.227"/>
+ <SupportPoint posX="375.831" posY="557.182"/>
</SupportPoints>
</Transition>
<Transition from="GoToLandmarkWithObstacleAvoidance" to="Failure" eventName="Failure">
@@ -527,13 +527,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3238.5" posY="875.093"/>
- <SupportPoint posX="3288.21" posY="865.484"/>
- <SupportPoint posX="3347.11" posY="850.764"/>
- <SupportPoint posX="3365" posY="832.556"/>
- <SupportPoint posX="3397.97" posY="798.976"/>
- <SupportPoint posX="3420.71" posY="667.594"/>
- <SupportPoint posX="3431.32" posY="593.701"/>
+ <SupportPoint posX="3301.24" posY="813.568"/>
+ <SupportPoint posX="3342.89" posY="809.837"/>
+ <SupportPoint posX="3392.98" posY="798.605"/>
+ <SupportPoint posX="3427.61" posY="768.667"/>
+ <SupportPoint posX="3469.27" posY="732.557"/>
+ <SupportPoint posX="3487.16" posY="670.035"/>
+ <SupportPoint posX="3494.82" posY="625.964"/>
</SupportPoints>
</Transition>
<Transition from="GoToLandmarkWithObstacleAvoidance" to="Success" eventName="Success">
@@ -541,16 +541,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3238.88" posY="908.162"/>
- <SupportPoint posX="3246.55" posY="909.631"/>
- <SupportPoint posX="3254.09" posY="910.883"/>
- <SupportPoint posX="3261.5" posY="911.778"/>
- <SupportPoint posX="3307.12" posY="917.298"/>
- <SupportPoint posX="3319" posY="912.583"/>
- <SupportPoint posX="3365" posY="911.778"/>
- <SupportPoint posX="3368.19" posY="911.727"/>
- <SupportPoint posX="3371.52" posY="911.65"/>
- <SupportPoint posX="3374.84" posY="911.573"/>
+ <SupportPoint posX="3294.34" posY="847.927"/>
+ <SupportPoint posX="3304.31" posY="852.425"/>
+ <SupportPoint posX="3314.4" posY="856.808"/>
+ <SupportPoint posX="3324.11" posY="860.667"/>
+ <SupportPoint posX="3361.17" posY="875.348"/>
+ <SupportPoint posX="3403.84" posY="889.021"/>
+ <SupportPoint posX="3437.83" posY="899.192"/>
</SupportPoints>
</Transition>
<Transition from="GoToLandmarkWithObstacleAvoidance_2" to="Failure" eventName="Failure">
@@ -558,7 +555,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2020.86" posY="726.369"/>
+ <SupportPoint posX="700.131" posY="621.978"/>
+ <SupportPoint posX="722.773" posY="699.616"/>
+ <SupportPoint posX="807.553" posY="945"/>
+ <SupportPoint posX="974.278" posY="945"/>
+ <SupportPoint posX="974.278" posY="945"/>
+ <SupportPoint posX="974.278" posY="945"/>
+ <SupportPoint posX="1829.11" posY="945"/>
+ <SupportPoint posX="2269.82" posY="945"/>
+ <SupportPoint posX="2379.32" posY="979.5"/>
+ <SupportPoint posX="2820.03" posY="979.5"/>
+ <SupportPoint posX="2820.03" posY="979.5"/>
+ <SupportPoint posX="2820.03" posY="979.5"/>
+ <SupportPoint posX="3225.08" posY="979.5"/>
+ <SupportPoint posX="3321.17" posY="979.5"/>
+ <SupportPoint posX="3364.49" posY="976.55"/>
+ <SupportPoint posX="3427.61" posY="904.111"/>
+ <SupportPoint posX="3463.39" posY="863.018"/>
+ <SupportPoint posX="3485.75" posY="707.333"/>
+ <SupportPoint posX="3495.21" posY="625.964"/>
</SupportPoints>
</Transition>
<Transition from="GoToLandmarkWithObstacleAvoidance_2" to="GoToDefaultPose" eventName="Success">
@@ -572,7 +587,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="763.726" posY="429.244"/>
+ <SupportPoint posX="722.236" posY="575.403"/>
+ <SupportPoint posX="767.009" posY="538.692"/>
+ <SupportPoint posX="854.882" posY="466.626"/>
+ <SupportPoint posX="914.107" posY="418.057"/>
</SupportPoints>
</Transition>
</Transitions>
diff --git a/source/armar6/skills/statecharts/Armar6BoardSupportDemo/testGuardCarryingSkill.xml b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/testGuardCarryingSkill.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02dbaf39788b7b2dd577f48be6a9f6732d78af58
--- /dev/null
+++ b/source/armar6/skills/statecharts/Armar6BoardSupportDemo/testGuardCarryingSkill.xml
@@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="testGuardCarryingSkill" uuid="17DE22DF-94E0-46F7-AC80-FDFE3EF80DAC" width="781.944" height="371.889" type="Normal State">
+ <InputParameters/>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates>
+ <EndState name="Failure" event="Failure" left="651.944" top="140" boundingSquareSize="99.6636"/>
+ <LocalState name="GuardCarryingSkill" refuuid="30629B08-477C-4EC0-8150-549910532B42" left="363.333" top="238.028" boundingSquareSize="99.6636"/>
+ <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="114.167" top="157.583" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="651.944" top="266.194" boundingSquareSize="99.6636"/>
+ </Substates>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ </Events>
+ <StartState substateName="ResolveLandmark">
+ <ParameterMappings>
+ <ParameterMapping sourceType="Value" from="" to="LandmarkNames">
+ <DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"GuardPlacement"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"GuardLifting"}}],"type":"::armarx::SingleTypeVariantListBase"}'/>
+ </ParameterMapping>
+ <ParameterMapping sourceType="Value" from="" to="SceneName">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"50_19/R005"}}'/>
+ </ParameterMapping>
+ </ParameterMappings>
+ <SupportPoints>
+ <SupportPoint posX="67.1067" posY="195.583"/>
+ <SupportPoint posX="76.5839" posY="195.583"/>
+ <SupportPoint posX="88.7241" posY="195.583"/>
+ <SupportPoint posX="101.186" posY="195.583"/>
+ </SupportPoints>
+ </StartState>
+ <Transitions>
+ <Transition from="ResolveLandmark" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.268" posY="189.757"/>
+ <SupportPoint posX="221.871" posY="189.028"/>
+ <SupportPoint posX="229.64" posY="188.389"/>
+ <SupportPoint posX="237" posY="187.917"/>
+ <SupportPoint posX="380.558" posY="178.793"/>
+ <SupportPoint posX="549.493" posY="177.426"/>
+ <SupportPoint posX="639.014" posY="177.426"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="ResolveLandmark" to="GuardCarryingSkill" eventName="Success">
+ <ParameterMappings>
+ <ParameterMapping sourceType="Value" from="" to="IsGuardPlacement">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}'/>
+ </ParameterMapping>
+ <ParameterMapping sourceType="Value" from="" to="LeftThumbThreshold">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1.1}}'/>
+ </ParameterMapping>
+ <ParameterMapping sourceType="Output" from="LandmarkPoseMap" to="PlatformTargetPose"/>
+ <ParameterMapping sourceType="Value" from="" to="RightThumbThreshold">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1.1}}'/>
+ </ParameterMapping>
+ </ParameterMappings>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.153" posY="219.221"/>
+ <SupportPoint posX="221.718" posY="222.29"/>
+ <SupportPoint posX="229.487" posY="225.178"/>
+ <SupportPoint posX="237" posY="227.528"/>
+ <SupportPoint posX="273.8" posY="239.042"/>
+ <SupportPoint posX="316.158" posY="247.479"/>
+ <SupportPoint posX="350.147" posY="253.128"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="463.435" posY="260.24"/>
+ <SupportPoint posX="508.285" posY="257.208"/>
+ <SupportPoint posX="575.138" posY="249.103"/>
+ <SupportPoint posX="629.278" posY="227.528"/>
+ <SupportPoint posX="633.392" posY="225.89"/>
+ <SupportPoint posX="637.494" posY="223.987"/>
+ <SupportPoint posX="641.557" posY="221.902"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="Success" eventName="Success">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints/>
+ </Transition>
+ <Transition from="GuardCarryingSkill" to="Success" eventName="LoseGuard">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="444.524" posY="286.404"/>
+ <SupportPoint posX="456.791" posY="294.543"/>
+ <SupportPoint posX="471.459" posY="302.595"/>
+ <SupportPoint posX="486.167" posY="306.75"/>
+ <SupportPoint posX="536.192" posY="320.884"/>
+ <SupportPoint posX="595.378" posY="318.958"/>
+ <SupportPoint posX="639.129" posY="314.221"/>
+ </SupportPoints>
+ </Transition>
+ </Transitions>
+</State>
+
diff --git a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/BringObjectAndPutAwayTask.xml b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/BringObjectAndPutAwayTask.xml
index 93fa82de9baa12d401204425306bfb97838f0bb0..32e9b8f8379681908c4cdaf90e58b12d6148ec4d 100644
--- a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/BringObjectAndPutAwayTask.xml
+++ b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/BringObjectAndPutAwayTask.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="BringObjectAndPutAwayTask" uuid="3680C1FE-3C6D-49BA-99B9-464106A0EDA4" width="3752.78" height="1369.81" type="Normal State">
+<State version="1.2" name="BringObjectAndPutAwayTask" uuid="3680C1FE-3C6D-49BA-99B9-464106A0EDA4" width="3499.78" height="1161.56" type="Normal State">
<InputParameters>
<Parameter name="DefaultObjectName" type="::armarx::StringVariantData" docType="string" optional="no">
<DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/spraybottle"}}' docValue="Maintenance/spraybottle"/>
@@ -30,21 +30,21 @@
<Parameter name="ObjectName" type="::armarx::StringVariantData" docType="string" optional="no"/>
</LocalParameters>
<Substates>
- <RemoteState name="BringObjectToLandmark" refuuid="D38220A7-F179-4C96-BE6D-937C53EC2376" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="363.333" top="294.944" boundingSquareSize="99.6636"/>
- <RemoteState name="CartesianGazeControl" refuuid="0967749A-6240-4FA3-99E9-4EF063B4A5F9" proxyName="MotionControlGroupRemoteStateOfferer" left="1894.11" top="594.611" boundingSquareSize="99.6636"/>
- <EndState name="Failure" event="Failure" left="3622.78" top="578.333" boundingSquareSize="99.6636"/>
- <RemoteState name="GoHome" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="3373.78" top="932.222" boundingSquareSize="99.6636"/>
- <RemoteState name="HandOverToRobot" refuuid="3FAF4F4E-8A9A-4F23-8D15-3752F7B20612" proxyName="HandOverGroupRemoteStateOfferer" left="861.667" top="334.278" boundingSquareSize="99.6636"/>
- <RemoteState name="LookAhead" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="2392.44" top="706.111" boundingSquareSize="99.6636"/>
- <RemoteState name="LookStraight" refuuid="2D4453C8-0CEB-4773-9493-ADD75AD31346" proxyName="Armar6HeadGroupRemoteStateOfferer" left="1110.83" top="404.667" boundingSquareSize="99.6636"/>
- <RemoteState name="MoveToLocationTask_2" refuuid="6A0FD8EC-064D-4A4A-B036-3C2995564588" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1644.94" top="587.611" boundingSquareSize="99.6636"/>
- <RemoteState name="NavigationPose_2" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="3102.25" top="856.778" boundingSquareSize="99.6636"/>
- <RemoteState name="PlaceObjectOnTable" refuuid="37E2E508-1C2C-4DE1-B783-9C92862A952C" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="2143.28" top="639.833" boundingSquareSize="99.6636"/>
- <LocalState name="PrepareNavigation" refuuid="04B94514-D96B-45AE-9035-4E396ACD9E5B" left="114.167" top="868.5" boundingSquareSize="99.6636"/>
- <RemoteState name="ReceiveFromRobot" refuuid="6546C898-D397-4835-A12B-0CE39B852D7D" proxyName="HandOverGroupRemoteStateOfferer" left="612.5" top="296.944" boundingSquareSize="99.6636"/>
- <RemoteState name="ResolveWorkbenchEntryWaypoints" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="1359.89" top="481" boundingSquareSize="135.442"/>
- <RemoteState name="RetreatPlatform" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="2830.72" top="781.444" boundingSquareSize="99.6636"/>
- <EndState name="Success" event="Success" left="3622.78" top="934.833" boundingSquareSize="99.6636"/>
+ <RemoteState name="BringObjectToLandmark" refuuid="D38220A7-F179-4C96-BE6D-937C53EC2376" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="363.333" top="969.611" boundingSquareSize="99.6636"/>
+ <RemoteState name="CartesianGazeControl" refuuid="0967749A-6240-4FA3-99E9-4EF063B4A5F9" proxyName="MotionControlGroupRemoteStateOfferer" left="1894.11" top="442.556" boundingSquareSize="99.6636"/>
+ <EndState name="Failure" event="Failure" left="3369.78" top="642.222" boundingSquareSize="99.6636"/>
+ <RemoteState name="GoHome" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="3120.78" top="140" boundingSquareSize="99.6636"/>
+ <RemoteState name="HandOverToRobot" refuuid="3FAF4F4E-8A9A-4F23-8D15-3752F7B20612" proxyName="HandOverGroupRemoteStateOfferer" left="861.667" top="932.278" boundingSquareSize="99.6636"/>
+ <RemoteState name="LookAhead" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="2392.44" top="570.667" boundingSquareSize="99.6636"/>
+ <RemoteState name="LookStraight" refuuid="2D4453C8-0CEB-4773-9493-ADD75AD31346" proxyName="Armar6HeadGroupRemoteStateOfferer" left="1110.83" top="805.889" boundingSquareSize="99.6636"/>
+ <RemoteState name="MoveToLocationTask_2" refuuid="6A0FD8EC-064D-4A4A-B036-3C2995564588" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1644.94" top="435.556" boundingSquareSize="99.6636"/>
+ <RemoteState name="NavigationPose_2" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="3120.78" top="449.167" boundingSquareSize="99.6636"/>
+ <RemoteState name="PlaceObjectOnTable" refuuid="37E2E508-1C2C-4DE1-B783-9C92862A952C" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="2143.28" top="594.667" boundingSquareSize="99.6636"/>
+ <LocalState name="PrepareNavigation" refuuid="04B94514-D96B-45AE-9035-4E396ACD9E5B" left="114.167" top="1056.33" boundingSquareSize="99.6636"/>
+ <RemoteState name="ReceiveFromRobot" refuuid="6546C898-D397-4835-A12B-0CE39B852D7D" proxyName="HandOverGroupRemoteStateOfferer" left="612.5" top="971.611" boundingSquareSize="99.6636"/>
+ <RemoteState name="ResolveWorkbenchEntryWaypoints" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="1359.89" top="713.556" boundingSquareSize="135.442"/>
+ <RemoteState name="RetreatPlatform" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="2830.72" top="542.5" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="3369.78" top="285.722" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
@@ -56,10 +56,10 @@
<ParameterMapping sourceType="Parent" from="RetreatLandmark" to="targetLandmark"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="67.1067" posY="887.5"/>
- <SupportPoint posX="76.5839" posY="887.5"/>
- <SupportPoint posX="88.7241" posY="887.5"/>
- <SupportPoint posX="101.186" posY="887.5"/>
+ <SupportPoint posX="67.1067" posY="1075.33"/>
+ <SupportPoint posX="76.5839" posY="1075.33"/>
+ <SupportPoint posX="88.7241" posY="1075.33"/>
+ <SupportPoint posX="101.186" posY="1075.33"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -68,25 +68,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="712.755" posY="298.01"/>
- <SupportPoint posX="762.857" posY="287.187"/>
- <SupportPoint posX="842.13" posY="272.889"/>
- <SupportPoint posX="911.667" posY="272.889"/>
- <SupportPoint posX="911.667" posY="272.889"/>
- <SupportPoint posX="911.667" posY="272.889"/>
- <SupportPoint posX="1819.53" posY="272.889"/>
- <SupportPoint posX="2041.48" posY="272.889"/>
- <SupportPoint posX="2095.91" posY="238.389"/>
- <SupportPoint posX="2317.86" posY="238.389"/>
- <SupportPoint posX="2317.86" posY="238.389"/>
- <SupportPoint posX="2317.86" posY="238.389"/>
- <SupportPoint posX="3423.78" posY="238.389"/>
- <SupportPoint posX="3514.63" posY="238.389"/>
- <SupportPoint posX="3545.17" posY="269.554"/>
- <SupportPoint posX="3600.11" posY="341.889"/>
- <SupportPoint posX="3626.69" posY="376.874"/>
- <SupportPoint posX="3651.73" posY="496.589"/>
- <SupportPoint posX="3664.38" posY="565.462"/>
+ <SupportPoint posX="712.755" posY="996.546"/>
+ <SupportPoint posX="762.857" posY="1007.37"/>
+ <SupportPoint posX="842.13" posY="1021.67"/>
+ <SupportPoint posX="911.667" posY="1021.67"/>
+ <SupportPoint posX="911.667" posY="1021.67"/>
+ <SupportPoint posX="911.667" posY="1021.67"/>
+ <SupportPoint posX="1570.36" posY="1021.67"/>
+ <SupportPoint posX="1902.97" posY="1021.67"/>
+ <SupportPoint posX="1985.26" posY="1056.17"/>
+ <SupportPoint posX="2317.86" posY="1056.17"/>
+ <SupportPoint posX="2317.86" posY="1056.17"/>
+ <SupportPoint posX="2317.86" posY="1056.17"/>
+ <SupportPoint posX="3170.78" posY="1056.17"/>
+ <SupportPoint posX="3258.18" posY="1056.17"/>
+ <SupportPoint posX="3292.17" posY="1037.24"/>
+ <SupportPoint posX="3347.11" posY="969.278"/>
+ <SupportPoint posX="3376.63" posY="932.682"/>
+ <SupportPoint posX="3400.91" posY="802.553"/>
+ <SupportPoint posX="3412.53" posY="729.643"/>
</SupportPoints>
</Transition>
<Transition from="ReceiveFromRobot" to="HandOverToRobot" eventName="Success">
@@ -97,13 +97,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="691.339" posY="322.748"/>
- <SupportPoint posX="704.501" posY="328.012"/>
- <SupportPoint posX="720.434" posY="333.622"/>
- <SupportPoint posX="735.333" posY="336.778"/>
- <SupportPoint posX="772.427" posY="344.649"/>
- <SupportPoint posX="814.798" posY="347.601"/>
- <SupportPoint posX="848.711" posY="348.546"/>
+ <SupportPoint posX="712.921" posY="976.855"/>
+ <SupportPoint posX="752.059" posY="970.837"/>
+ <SupportPoint posX="806.544" posY="962.454"/>
+ <SupportPoint posX="848.57" posY="955.989"/>
</SupportPoints>
</Transition>
<Transition from="HandOverToRobot" to="Failure" eventName="Failure">
@@ -111,25 +108,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="961.781" posY="348.278"/>
- <SupportPoint posX="1012.09" posY="348.278"/>
- <SupportPoint posX="1091.83" posY="348.278"/>
- <SupportPoint posX="1160.83" posY="348.278"/>
- <SupportPoint posX="1160.83" posY="348.278"/>
- <SupportPoint posX="1160.83" posY="348.278"/>
- <SupportPoint posX="1819.53" posY="348.278"/>
- <SupportPoint posX="2194.04" posY="348.278"/>
- <SupportPoint posX="2287.07" posY="313.778"/>
- <SupportPoint posX="2661.58" posY="313.778"/>
- <SupportPoint posX="2661.58" posY="313.778"/>
- <SupportPoint posX="2661.58" posY="313.778"/>
- <SupportPoint posX="3423.78" posY="313.778"/>
- <SupportPoint posX="3514.12" posY="313.778"/>
- <SupportPoint posX="3541.97" posY="345.633"/>
- <SupportPoint posX="3600.11" posY="414.722"/>
- <SupportPoint posX="3636.66" posY="458.141"/>
- <SupportPoint posX="3655.57" posY="521.404"/>
- <SupportPoint posX="3664.77" posY="565.232"/>
+ <SupportPoint posX="961.781" posY="946.278"/>
+ <SupportPoint posX="1012.09" posY="946.278"/>
+ <SupportPoint posX="1091.83" posY="946.278"/>
+ <SupportPoint posX="1160.83" posY="946.278"/>
+ <SupportPoint posX="1160.83" posY="946.278"/>
+ <SupportPoint posX="1160.83" posY="946.278"/>
+ <SupportPoint posX="1819.53" posY="946.278"/>
+ <SupportPoint posX="2041.48" posY="946.278"/>
+ <SupportPoint posX="2095.91" posY="980.778"/>
+ <SupportPoint posX="2317.86" posY="980.778"/>
+ <SupportPoint posX="2317.86" posY="980.778"/>
+ <SupportPoint posX="2317.86" posY="980.778"/>
+ <SupportPoint posX="3170.78" posY="980.778"/>
+ <SupportPoint posX="3299.71" posY="980.778"/>
+ <SupportPoint posX="3374.33" posY="815.088"/>
+ <SupportPoint posX="3404.36" posY="729.349"/>
</SupportPoints>
</Transition>
<Transition from="HandOverToRobot" transitionCodeEnabled="1" toClass="LookStraight" toGroup="Armar6HeadGroup" toPackage="armar6_skills" fromClass="HandOverToRobot" fromGroup="HandOverGroup" fromPackage="RobotSkillTemplates" to="LookStraight" eventName="Success">
@@ -139,13 +133,10 @@
</ParameterMappingsToParentsLocal>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="923.537" posY="362.384"/>
- <SupportPoint posX="936.813" posY="377.207"/>
- <SupportPoint posX="959.737" posY="400.002"/>
- <SupportPoint posX="984.5" posY="412.167"/>
- <SupportPoint posX="1019.75" posY="429.481"/>
- <SupportPoint posX="1062.98" posY="438.118"/>
- <SupportPoint posX="1097.83" posY="442.412"/>
+ <SupportPoint posX="947.368" posY="932.184"/>
+ <SupportPoint posX="986.647" posY="916.672"/>
+ <SupportPoint posX="1050.52" posY="891.448"/>
+ <SupportPoint posX="1098.18" posY="872.627"/>
</SupportPoints>
</Transition>
<Transition from="BringObjectToLandmark" to="Failure" eventName="Failure">
@@ -153,25 +144,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="428.756" posY="294.994"/>
- <SupportPoint posX="465.761" posY="260.763"/>
- <SupportPoint posX="563.881" posY="179.611"/>
- <SupportPoint posX="662.5" posY="179.611"/>
- <SupportPoint posX="662.5" posY="179.611"/>
- <SupportPoint posX="662.5" posY="179.611"/>
- <SupportPoint posX="1819.53" posY="179.611"/>
- <SupportPoint posX="2041.09" posY="179.611"/>
- <SupportPoint posX="2096.29" posY="163"/>
- <SupportPoint posX="2317.86" posY="163"/>
- <SupportPoint posX="2317.86" posY="163"/>
- <SupportPoint posX="2317.86" posY="163"/>
- <SupportPoint posX="3423.78" posY="163"/>
- <SupportPoint posX="3514.88" posY="163"/>
- <SupportPoint posX="3547.08" posY="193.616"/>
- <SupportPoint posX="3600.11" posY="267.778"/>
- <SupportPoint posX="3633.84" posY="315.03"/>
- <SupportPoint posX="3657.36" posY="481.001"/>
- <SupportPoint posX="3667.45" posY="565.334"/>
+ <SupportPoint posX="414.828" posY="969.789"/>
+ <SupportPoint posX="425.958" posY="863.836"/>
+ <SupportPoint posX="499.711" posY="225.611"/>
+ <SupportPoint posX="662.5" posY="225.611"/>
+ <SupportPoint posX="662.5" posY="225.611"/>
+ <SupportPoint posX="662.5" posY="225.611"/>
+ <SupportPoint posX="2317.86" posY="225.611"/>
+ <SupportPoint posX="2432.99" posY="225.611"/>
+ <SupportPoint posX="3268.78" posY="257.619"/>
+ <SupportPoint posX="3347.11" posY="341.889"/>
+ <SupportPoint posX="3385.32" posY="383.033"/>
+ <SupportPoint posX="3406.66" posY="544.953"/>
+ <SupportPoint posX="3415.34" posY="628.597"/>
</SupportPoints>
</Transition>
<Transition from="BringObjectToLandmark" transitionCodeEnabled="1" toClass="ReceiveFromRobot" toGroup="HandOverGroup" toPackage="RobotSkillTemplates" fromClass="BringObjectToLandmark" fromGroup="Armar6GraspingGroup" fromPackage="armar6_skills" to="ReceiveFromRobot" eventName="Success">
@@ -186,10 +171,10 @@
</ParameterMappingsToParentsLocal>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="463.754" posY="309.944"/>
- <SupportPoint posX="502.893" posY="309.944"/>
- <SupportPoint posX="557.377" posY="309.944"/>
- <SupportPoint posX="599.403" posY="309.944"/>
+ <SupportPoint posX="463.754" posY="984.611"/>
+ <SupportPoint posX="502.893" posY="984.611"/>
+ <SupportPoint posX="557.377" posY="984.611"/>
+ <SupportPoint posX="599.403" posY="984.611"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose_2" to="Failure" eventName="Failure">
@@ -197,16 +182,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3202.21" posY="884.459"/>
- <SupportPoint posX="3306.22" posY="874.479"/>
- <SupportPoint posX="3541.59" posY="846.611"/>
- <SupportPoint posX="3600.11" posY="794.222"/>
- <SupportPoint posX="3637.29" posY="760.974"/>
- <SupportPoint posX="3655.82" posY="706.004"/>
- <SupportPoint posX="3664.89" posY="665.754"/>
+ <SupportPoint posX="3220.87" posY="506.16"/>
+ <SupportPoint posX="3257.92" posY="525.966"/>
+ <SupportPoint posX="3308.39" posY="555.891"/>
+ <SupportPoint posX="3347.11" posY="589.778"/>
+ <SupportPoint posX="3361.17" posY="602.096"/>
+ <SupportPoint posX="3374.71" posY="617.327"/>
+ <SupportPoint posX="3386.08" posY="631.702"/>
</SupportPoints>
</Transition>
- <Transition from="NavigationPose_2" to="GoHome" eventName="Success">
+ <Transition from="NavigationPose_2" to="Success" eventName="Success">
<ParameterMappings>
<ParameterMapping sourceType="Parent" from="HomeLandmark" to="LandmarkName"/>
<ParameterMapping sourceType="Value" from="" to="PredefinedRotationDirection">
@@ -219,13 +204,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3202.21" posY="907.778"/>
- <SupportPoint posX="3216.65" posY="912.851"/>
- <SupportPoint posX="3232.62" posY="918.026"/>
- <SupportPoint posX="3247.44" posY="922"/>
- <SupportPoint posX="3284.63" posY="931.928"/>
- <SupportPoint posX="3327.05" posY="940.017"/>
- <SupportPoint posX="3360.91" posY="945.728"/>
+ <SupportPoint posX="3221.25" posY="449.107"/>
+ <SupportPoint posX="3260.99" posY="423.782"/>
+ <SupportPoint posX="3316.7" posY="388.362"/>
+ <SupportPoint posX="3358.99" posY="361.464"/>
</SupportPoints>
</Transition>
<Transition from="CartesianGazeControl" to="Failure" eventName="Failure">
@@ -233,19 +215,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1993.94" posY="602.773"/>
- <SupportPoint posX="2001.61" posY="601.124"/>
- <SupportPoint posX="2009.41" posY="599.681"/>
- <SupportPoint posX="2016.94" posY="598.722"/>
- <SupportPoint posX="2475.54" posY="540.059"/>
- <SupportPoint posX="2594.76" posY="583.772"/>
- <SupportPoint posX="3057.06" posY="585.944"/>
- <SupportPoint posX="3298.43" posY="587.082"/>
- <SupportPoint posX="3362.06" posY="551.266"/>
- <SupportPoint posX="3600.11" posY="591.056"/>
- <SupportPoint posX="3603.56" posY="591.618"/>
- <SupportPoint posX="3607.01" posY="592.321"/>
- <SupportPoint posX="3610.46" posY="593.126"/>
+ <SupportPoint posX="1994.07" posY="459.764"/>
+ <SupportPoint posX="2231.23" posY="437.467"/>
+ <SupportPoint posX="3237.48" posY="348.431"/>
+ <SupportPoint posX="3347.11" posY="431.333"/>
+ <SupportPoint posX="3378.67" posY="455.189"/>
+ <SupportPoint posX="3401.29" posY="563.813"/>
+ <SupportPoint posX="3412.28" posY="629.095"/>
</SupportPoints>
</Transition>
<Transition from="CartesianGazeControl" to="PlaceObjectOnTable" eventName="Success">
@@ -256,13 +232,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1994.33" posY="633.171"/>
- <SupportPoint posX="2001.87" posY="635.19"/>
- <SupportPoint posX="2009.53" posY="637.004"/>
- <SupportPoint posX="2016.94" posY="638.333"/>
- <SupportPoint posX="2054.13" posY="645.003"/>
- <SupportPoint posX="2096.29" posY="647.917"/>
- <SupportPoint posX="2130.16" posY="649.143"/>
+ <SupportPoint posX="1983.59" posY="487.236"/>
+ <SupportPoint posX="2032.15" posY="515.092"/>
+ <SupportPoint posX="2113.54" posY="561.871"/>
+ <SupportPoint posX="2159.29" posY="588.181"/>
</SupportPoints>
</Transition>
<Transition from="LookAhead" to="RetreatPlatform" eventName="EvJointTargetReached">
@@ -275,13 +248,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2492.53" posY="779.336"/>
- <SupportPoint posX="2499.82" posY="783.259"/>
- <SupportPoint posX="2507.61" posY="786.709"/>
- <SupportPoint posX="2515.28" posY="789.111"/>
- <SupportPoint posX="2617.63" posY="821.068"/>
- <SupportPoint posX="2744" posY="817.542"/>
- <SupportPoint posX="2818.11" posY="811.434"/>
+ <SupportPoint posX="2492.28" posY="602.875"/>
+ <SupportPoint posX="2572.39" posY="595.157"/>
+ <SupportPoint posX="2729.82" posY="580.028"/>
+ <SupportPoint posX="2817.6" posY="571.569"/>
</SupportPoints>
</Transition>
<Transition from="LookAhead" to="Failure" eventName="EvTimeout">
@@ -289,16 +259,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2492.28" posY="739.265"/>
- <SupportPoint posX="2616.22" posY="729.669"/>
- <SupportPoint posX="2947.93" posY="703.679"/>
- <SupportPoint posX="3224.44" posY="679.222"/>
- <SupportPoint posX="3391.45" posY="664.438"/>
- <SupportPoint posX="3436.81" posY="681.944"/>
- <SupportPoint posX="3600.11" posY="643.444"/>
- <SupportPoint posX="3603.56" posY="642.639"/>
- <SupportPoint posX="3607.01" posY="641.707"/>
- <SupportPoint posX="3610.46" posY="640.697"/>
+ <SupportPoint posX="2492.66" posY="611.334"/>
+ <SupportPoint posX="2656.34" posY="623.332"/>
+ <SupportPoint posX="3175.51" posY="661.321"/>
+ <SupportPoint posX="3356.69" posY="674.597"/>
</SupportPoints>
</Transition>
<Transition from="PlaceObjectOnTable" to="Failure" eventName="Failure">
@@ -306,10 +270,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2243.37" posY="648.658"/>
- <SupportPoint posX="2465.7" posY="643.483"/>
- <SupportPoint posX="3363.21" posY="622.553"/>
- <SupportPoint posX="3609.95" posY="616.803"/>
+ <SupportPoint posX="2230.59" posY="620.496"/>
+ <SupportPoint posX="2270.2" posY="633.529"/>
+ <SupportPoint posX="2335.11" posY="653.104"/>
+ <SupportPoint posX="2392.61" posY="662.611"/>
+ <SupportPoint posX="2753.33" posY="722.168"/>
+ <SupportPoint posX="3195.06" posY="696.996"/>
+ <SupportPoint posX="3356.82" posY="684.602"/>
</SupportPoints>
</Transition>
<Transition from="PlaceObjectOnTable" to="LookAhead" eventName="Success">
@@ -321,13 +288,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2201.97" posY="660.439"/>
- <SupportPoint posX="2214.36" posY="675.018"/>
- <SupportPoint posX="2239.02" posY="700.893"/>
- <SupportPoint posX="2266.11" posY="713.722"/>
- <SupportPoint posX="2301.38" posY="730.461"/>
- <SupportPoint posX="2344.69" posY="737.847"/>
- <SupportPoint posX="2379.45" posY="741.016"/>
+ <SupportPoint posX="2243.75" posY="607.667"/>
+ <SupportPoint posX="2282.85" posY="607.667"/>
+ <SupportPoint posX="2337.28" posY="607.667"/>
+ <SupportPoint posX="2379.32" posY="607.667"/>
</SupportPoints>
</Transition>
<Transition from="RetreatPlatform" to="Failure" eventName="Failure">
@@ -335,13 +299,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2930.81" posY="804.023"/>
- <SupportPoint posX="3075.07" posY="801.978"/>
- <SupportPoint posX="3488.56" posY="789.916"/>
- <SupportPoint posX="3600.11" posY="718.833"/>
- <SupportPoint posX="3620.81" posY="705.596"/>
- <SupportPoint posX="3637.42" posY="684.129"/>
- <SupportPoint posX="3649.43" posY="664.17"/>
+ <SupportPoint posX="2930.81" posY="571.557"/>
+ <SupportPoint posX="3016.93" posY="582.686"/>
+ <SupportPoint posX="3198.38" posY="609.149"/>
+ <SupportPoint posX="3347.11" posY="651.111"/>
+ <SupportPoint posX="3350.56" posY="652.095"/>
+ <SupportPoint posX="3354.14" posY="653.181"/>
+ <SupportPoint posX="3357.72" posY="654.331"/>
</SupportPoints>
</Transition>
<Transition from="RetreatPlatform" to="NavigationPose_2" eventName="Success">
@@ -349,13 +313,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="2902.06" posY="827.662"/>
- <SupportPoint posX="2915.48" posY="840.733"/>
- <SupportPoint posX="2934.01" posY="856.092"/>
- <SupportPoint posX="2953.56" posY="864.5"/>
- <SupportPoint posX="2996.36" posY="882.849"/>
- <SupportPoint posX="3048.62" posY="888.65"/>
- <SupportPoint posX="3088.87" posY="890.004"/>
+ <SupportPoint posX="2930.56" posY="550.997"/>
+ <SupportPoint posX="2979.75" posY="536.699"/>
+ <SupportPoint posX="3055.14" posY="514.798"/>
+ <SupportPoint posX="3108.29" posY="499.349"/>
</SupportPoints>
</Transition>
<Transition from="GoHome" to="Failure" eventName="Failure">
@@ -363,13 +324,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3473.99" posY="940.758"/>
- <SupportPoint posX="3522.93" posY="926.268"/>
- <SupportPoint posX="3591.17" posY="904.763"/>
- <SupportPoint posX="3600.11" posY="895.167"/>
- <SupportPoint posX="3630.91" posY="861.996"/>
- <SupportPoint posX="3654.42" posY="736.646"/>
- <SupportPoint posX="3665.66" posY="665.486"/>
+ <SupportPoint posX="3196.84" posY="186.498"/>
+ <SupportPoint posX="3205.15" posY="194.714"/>
+ <SupportPoint posX="3213.84" posY="204.349"/>
+ <SupportPoint posX="3220.61" posY="214.111"/>
+ <SupportPoint posX="3234.28" posY="233.712"/>
+ <SupportPoint posX="3225.72" posY="246.835"/>
+ <SupportPoint posX="3243.61" posY="262.667"/>
+ <SupportPoint posX="3279.9" posY="294.828"/>
+ <SupportPoint posX="3315.17" posY="260.673"/>
+ <SupportPoint posX="3347.11" posY="297.167"/>
+ <SupportPoint posX="3358.1" posY="309.663"/>
+ <SupportPoint posX="3395.16" posY="528.444"/>
+ <SupportPoint posX="3411.77" posY="629.184"/>
</SupportPoints>
</Transition>
<Transition from="GoHome" to="Success" eventName="Success">
@@ -377,13 +344,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="3473.99" posY="970.223"/>
- <SupportPoint posX="3481.53" posY="971.948"/>
- <SupportPoint posX="3489.2" posY="973.431"/>
- <SupportPoint posX="3496.61" posY="974.389"/>
- <SupportPoint posX="3534.05" posY="979.219"/>
- <SupportPoint posX="3576.22" posY="978.823"/>
- <SupportPoint posX="3609.95" posY="977.085"/>
+ <SupportPoint posX="3220.74" posY="169.593"/>
+ <SupportPoint posX="3258.43" posY="176.57"/>
+ <SupportPoint posX="3309.8" posY="190.549"/>
+ <SupportPoint posX="3347.11" posY="217.944"/>
+ <SupportPoint posX="3366.92" posY="232.511"/>
+ <SupportPoint posX="3383.27" posY="254.182"/>
+ <SupportPoint posX="3395.41" posY="274.052"/>
</SupportPoints>
</Transition>
<Transition from="PrepareNavigation" to="Failure" eventName="Failure">
@@ -391,22 +358,25 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="174.887" posY="906.36"/>
- <SupportPoint posX="205.196" posY="956.973"/>
- <SupportPoint posX="296.941" posY="1091.94"/>
- <SupportPoint posX="413.333" posY="1091.94"/>
- <SupportPoint posX="413.333" posY="1091.94"/>
- <SupportPoint posX="413.333" posY="1091.94"/>
- <SupportPoint posX="1694.94" posY="1091.94"/>
- <SupportPoint posX="2541.73" posY="1091.94"/>
- <SupportPoint posX="3000.96" posY="1664.87"/>
- <SupportPoint posX="3600.11" posY="1066.39"/>
- <SupportPoint posX="3624.13" posY="1042.43"/>
- <SupportPoint posX="3617.74" posY="949.076"/>
- <SupportPoint posX="3623.11" posY="915.611"/>
- <SupportPoint posX="3637.17" posY="827.547"/>
- <SupportPoint posX="3654.29" posY="725.12"/>
- <SupportPoint posX="3664.38" posY="665.524"/>
+ <SupportPoint posX="214.409" posY="1087.67"/>
+ <SupportPoint posX="264.485" posY="1098.88"/>
+ <SupportPoint posX="343.746" posY="1113.67"/>
+ <SupportPoint posX="413.333" posY="1113.67"/>
+ <SupportPoint posX="413.333" posY="1113.67"/>
+ <SupportPoint posX="413.333" posY="1113.67"/>
+ <SupportPoint posX="1570.36" posY="1113.67"/>
+ <SupportPoint posX="1791.93" posY="1113.67"/>
+ <SupportPoint posX="1847.13" posY="1131.56"/>
+ <SupportPoint posX="2068.69" posY="1131.56"/>
+ <SupportPoint posX="2068.69" posY="1131.56"/>
+ <SupportPoint posX="2068.69" posY="1131.56"/>
+ <SupportPoint posX="3170.78" posY="1131.56"/>
+ <SupportPoint posX="3255.75" posY="1131.56"/>
+ <SupportPoint posX="3293.57" posY="1123.46"/>
+ <SupportPoint posX="3347.11" posY="1057.44"/>
+ <SupportPoint posX="3387.36" posY="1007.8"/>
+ <SupportPoint posX="3408.19" posY="821.362"/>
+ <SupportPoint posX="3415.98" posY="730.129"/>
</SupportPoints>
</Transition>
<Transition from="PrepareNavigation" to="BringObjectToLandmark" eventName="Success">
@@ -416,10 +386,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="172.178" posY="868.934"/>
- <SupportPoint posX="208.608" posY="784.486"/>
- <SupportPoint posX="358.772" posY="436.419"/>
- <SupportPoint posX="401.782" posY="336.727"/>
+ <SupportPoint posX="214.588" posY="1056.97"/>
+ <SupportPoint posX="257.036" posY="1041.52"/>
+ <SupportPoint posX="317.551" posY="1019.48"/>
+ <SupportPoint posX="360.638" posY="1003.8"/>
</SupportPoints>
</Transition>
<Transition from="ResolveWorkbenchEntryWaypoints" to="Failure" eventName="Failure">
@@ -427,22 +397,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1495.74" posY="518.376"/>
- <SupportPoint posX="1549.53" posY="509.444"/>
- <SupportPoint posX="1626.71" posY="499.056"/>
- <SupportPoint posX="1694.94" posY="499.056"/>
- <SupportPoint posX="1694.94" posY="499.056"/>
- <SupportPoint posX="1694.94" posY="499.056"/>
- <SupportPoint posX="2068.69" posY="499.056"/>
- <SupportPoint posX="2485.25" posY="499.056"/>
- <SupportPoint posX="2588.75" posY="464.556"/>
- <SupportPoint posX="3005.31" posY="464.556"/>
- <SupportPoint posX="3005.31" posY="464.556"/>
- <SupportPoint posX="3005.31" posY="464.556"/>
- <SupportPoint posX="3423.78" posY="464.556"/>
- <SupportPoint posX="3505.43" posY="464.556"/>
- <SupportPoint posX="3583.24" posY="524.573"/>
- <SupportPoint posX="3629.5" posY="568.873"/>
+ <SupportPoint posX="1495.74" posY="776.18"/>
+ <SupportPoint posX="1549.53" posY="785.112"/>
+ <SupportPoint posX="1626.71" posY="795.5"/>
+ <SupportPoint posX="1694.94" posY="795.5"/>
+ <SupportPoint posX="1694.94" posY="795.5"/>
+ <SupportPoint posX="1694.94" posY="795.5"/>
+ <SupportPoint posX="2068.69" posY="795.5"/>
+ <SupportPoint posX="2638.46" posY="795.5"/>
+ <SupportPoint posX="2786.81" posY="803.972"/>
+ <SupportPoint posX="3347.11" posY="700.944"/>
+ <SupportPoint posX="3350.43" posY="700.331"/>
+ <SupportPoint posX="3353.88" posY="699.616"/>
+ <SupportPoint posX="3357.33" posY="698.836"/>
</SupportPoints>
</Transition>
<Transition from="ResolveWorkbenchEntryWaypoints" to="MoveToLocationTask_2" eventName="Success">
@@ -458,13 +425,10 @@
</ParameterMappingsToParentsLocal>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1495.61" posY="555.214"/>
- <SupportPoint posX="1503.41" posY="557.872"/>
- <SupportPoint posX="1511.2" posY="560.491"/>
- <SupportPoint posX="1518.61" posY="562.944"/>
- <SupportPoint posX="1556.18" posY="575.288"/>
- <SupportPoint posX="1598.6" posY="588.232"/>
- <SupportPoint posX="1632.46" posY="598.313"/>
+ <SupportPoint posX="1473.25" posY="712.841"/>
+ <SupportPoint posX="1525.89" posY="653.82"/>
+ <SupportPoint posX="1611.76" posY="557.654"/>
+ <SupportPoint posX="1659.81" posY="503.962"/>
</SupportPoints>
</Transition>
<Transition from="MoveToLocationTask_2" to="Failure" eventName="Failure">
@@ -472,19 +436,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1698.27" posY="646.051"/>
- <SupportPoint posX="1710.92" posY="740.632"/>
- <SupportPoint posX="1764.33" posY="1030.61"/>
- <SupportPoint posX="1944.11" posY="1030.61"/>
- <SupportPoint posX="1944.11" posY="1030.61"/>
- <SupportPoint posX="1944.11" posY="1030.61"/>
- <SupportPoint posX="3005.31" posY="1030.61"/>
- <SupportPoint posX="3270.32" posY="1030.61"/>
- <SupportPoint posX="3401.67" posY="1164.06"/>
- <SupportPoint posX="3600.11" posY="988.444"/>
- <SupportPoint posX="3612.25" posY="977.711"/>
- <SupportPoint posX="3648.54" posY="764.297"/>
- <SupportPoint posX="3664.89" posY="665.154"/>
+ <SupportPoint posX="1722.42" posY="434.822"/>
+ <SupportPoint posX="1765.35" posY="391.876"/>
+ <SupportPoint posX="1852.75" posY="317.611"/>
+ <SupportPoint posX="1944.11" posY="317.611"/>
+ <SupportPoint posX="1944.11" posY="317.611"/>
+ <SupportPoint posX="1944.11" posY="317.611"/>
+ <SupportPoint posX="3025.75" posY="317.611"/>
+ <SupportPoint posX="3098.97" posY="317.611"/>
+ <SupportPoint posX="3294.72" posY="339.295"/>
+ <SupportPoint posX="3347.11" posY="390.444"/>
+ <SupportPoint posX="3380.72" posY="423.258"/>
+ <SupportPoint posX="3403.33" posY="554.958"/>
+ <SupportPoint posX="3413.56" posY="628.648"/>
</SupportPoints>
</Transition>
<Transition from="MoveToLocationTask_2" to="CartesianGazeControl" eventName="Success">
@@ -496,10 +460,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1745.42" posY="616.611"/>
- <SupportPoint posX="1784.52" posY="616.611"/>
- <SupportPoint posX="1838.95" posY="616.611"/>
- <SupportPoint posX="1880.99" posY="616.611"/>
+ <SupportPoint posX="1745.42" posY="464.556"/>
+ <SupportPoint posX="1784.52" posY="464.556"/>
+ <SupportPoint posX="1838.95" posY="464.556"/>
+ <SupportPoint posX="1880.99" posY="464.556"/>
</SupportPoints>
</Transition>
<Transition from="LookStraight" to="Failure" eventName="Failure">
@@ -507,25 +471,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1210.92" posY="439.767"/>
- <SupportPoint posX="1264.51" posY="432.994"/>
- <SupportPoint posX="1351.99" posY="423.667"/>
- <SupportPoint posX="1427.89" posY="423.667"/>
- <SupportPoint posX="1427.89" posY="423.667"/>
- <SupportPoint posX="1427.89" posY="423.667"/>
- <SupportPoint posX="2068.69" posY="423.667"/>
- <SupportPoint posX="2332.68" posY="423.667"/>
- <SupportPoint posX="2397.59" posY="389.167"/>
- <SupportPoint posX="2661.58" posY="389.167"/>
- <SupportPoint posX="2661.58" posY="389.167"/>
- <SupportPoint posX="2661.58" posY="389.167"/>
- <SupportPoint posX="3423.78" posY="389.167"/>
- <SupportPoint posX="3512.46" posY="389.167"/>
- <SupportPoint posX="3536.99" posY="420.217"/>
- <SupportPoint posX="3600.11" posY="482.444"/>
- <SupportPoint posX="3623.88" posY="505.815"/>
- <SupportPoint posX="3641.89" posY="538.577"/>
- <SupportPoint posX="3654.16" posY="565.717"/>
+ <SupportPoint posX="1210.92" posY="854.789"/>
+ <SupportPoint posX="1264.51" posY="861.561"/>
+ <SupportPoint posX="1351.99" posY="870.889"/>
+ <SupportPoint posX="1427.89" posY="870.889"/>
+ <SupportPoint posX="1427.89" posY="870.889"/>
+ <SupportPoint posX="1427.89" posY="870.889"/>
+ <SupportPoint posX="1819.53" posY="870.889"/>
+ <SupportPoint posX="2389.29" posY="870.889"/>
+ <SupportPoint posX="2533.68" posY="852.885"/>
+ <SupportPoint posX="3097.94" posY="773.778"/>
+ <SupportPoint posX="3209.37" posY="758.163"/>
+ <SupportPoint posX="3242.97" posY="771.708"/>
+ <SupportPoint posX="3347.11" posY="729.056"/>
+ <SupportPoint posX="3351.46" posY="727.267"/>
+ <SupportPoint posX="3355.8" posY="725.184"/>
+ <SupportPoint posX="3360.14" posY="722.909"/>
</SupportPoints>
</Transition>
<Transition from="LookStraight" to="ResolveWorkbenchEntryWaypoints" eventName="Success">
@@ -535,13 +496,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1210.85" posY="477.218"/>
- <SupportPoint posX="1218.33" posY="481.064"/>
- <SupportPoint posX="1226.09" posY="484.655"/>
- <SupportPoint posX="1233.67" posY="487.556"/>
- <SupportPoint posX="1269.88" posY="501.419"/>
- <SupportPoint posX="1311.61" posY="511.476"/>
- <SupportPoint posX="1347.13" posY="518.401"/>
+ <SupportPoint posX="1211.06" posY="832.032"/>
+ <SupportPoint posX="1249.46" posY="819.906"/>
+ <SupportPoint posX="1303.15" posY="802.949"/>
+ <SupportPoint posX="1347.52" posY="788.945"/>
</SupportPoints>
</Transition>
</Transitions>
diff --git a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/FotoTask.xml b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/FotoTask.xml
index 911f0bbf1e3e4bdaa1667db29f5dd1e85e601098..efc39fbe2285a7c492ad32a320c8ea0870869149 100644
--- a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/FotoTask.xml
+++ b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/FotoTask.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="FotoTask" uuid="C6F4F2E2-173F-47B3-8A30-1BFD7D5E0EF6" width="613.333" height="344.167" type="Normal State">
+<State version="1.2" name="FotoTask" uuid="C6F4F2E2-173F-47B3-8A30-1BFD7D5E0EF6" width="1056.67" height="528.417" type="Normal State">
<InputParameters>
<Parameter name="targetLandmark" type="::armarx::StringVariantData" docType="string" optional="no">
<DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"home"}}' docValue="home"/>
@@ -8,25 +8,27 @@
<OutputParameters/>
<LocalParameters/>
<Substates>
- <RemoteState name="Armar6Foto" refuuid="B8A79EAE-B816-45FB-AC00-2DAEE88D8EF6" proxyName="Armar6PresentationGroupRemoteStateOfferer" left="285" top="225.333" boundingSquareSize="100.002"/>
- <EndState name="Failure" event="Failure" left="483.331" top="140" boundingSquareSize="100.002"/>
- <RemoteState name="MovePlatformToLandmark" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="86.6667" top="174.167" boundingSquareSize="100.002"/>
- <EndState name="Success" event="Success" left="483.331" top="238.667" boundingSquareSize="100.002"/>
+ <RemoteState name="Armar6Foto" refuuid="B8A79EAE-B816-45FB-AC00-2DAEE88D8EF6" proxyName="Armar6PresentationGroupRemoteStateOfferer" left="677.667" top="394.611" boundingSquareSize="99.6636"/>
+ <EndState name="Failure" event="Failure" left="926.67" top="224.667" boundingSquareSize="99.6636"/>
+ <RemoteState name="GoToGoalPositionWithObstacleAvoidance" refuuid="EB5761E3-D8DF-4B79-82F2-DF7780B3E4CD" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="363.917" top="303.833" boundingSquareSize="164.836"/>
+ <RemoteState name="MovePlatformToLandmark" refuuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" proxyName="PlatformGroupRemoteStateOfferer" left="395.917" top="198.056" boundingSquareSize="100.942"/>
+ <RemoteState name="ResolveLandmark" refuuid="68599B94-C644-4023-969B-486210BEFD4A" proxyName="PlatformGroupRemoteStateOfferer" left="114.167" top="144.167" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="926.67" top="422.722" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
<Description>Event for statechart-internal failures or optionally user-code failures</Description>
</Event>
</Events>
- <StartState substateName="MovePlatformToLandmark">
+ <StartState substateName="ResolveLandmark">
<ParameterMappings>
- <ParameterMapping sourceType="Parent" from="targetLandmark" to="targetLandmark"/>
+ <ParameterMapping sourceType="Parent" from="targetLandmark" to="LandmarkName"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="54.6758" posY="199.167"/>
- <SupportPoint posX="60.8908" posY="199.167"/>
- <SupportPoint posX="69.1158" posY="199.167"/>
- <SupportPoint posX="77.9475" posY="199.167"/>
+ <SupportPoint posX="67.1067" posY="182.167"/>
+ <SupportPoint posX="76.5839" posY="182.167"/>
+ <SupportPoint posX="88.7241" posY="182.167"/>
+ <SupportPoint posX="101.186" posY="182.167"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -35,13 +37,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="186.875" posY="194.467"/>
- <SupportPoint posX="191.875" posY="194.05"/>
- <SupportPoint posX="196.867" posY="193.667"/>
- <SupportPoint posX="201.667" posY="193.333"/>
- <SupportPoint posX="297.192" posY="186.708"/>
- <SupportPoint posX="408.425" posY="182"/>
- <SupportPoint posX="474.517" posY="179.525"/>
+ <SupportPoint posX="496.593" posY="225.841"/>
+ <SupportPoint posX="538.913" posY="228.243"/>
+ <SupportPoint posX="600.834" posY="231.936"/>
+ <SupportPoint posX="654.833" posY="235.833"/>
+ <SupportPoint posX="744.866" posY="242.337"/>
+ <SupportPoint posX="848.941" posY="251.269"/>
+ <SupportPoint posX="913.826" posY="257.006"/>
</SupportPoints>
</Transition>
<Transition from="MovePlatformToLandmark" to="Armar6Foto" eventName="Success">
@@ -49,10 +51,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="186.875" posY="215.275"/>
- <SupportPoint posX="214.108" posY="224.158"/>
- <SupportPoint posX="248.075" posY="235.243"/>
- <SupportPoint posX="276.525" posY="244.525"/>
+ <SupportPoint posX="496.644" posY="247.116"/>
+ <SupportPoint posX="540.945" posY="269.49"/>
+ <SupportPoint posX="605.677" posY="305.536"/>
+ <SupportPoint posX="654.833" posY="347"/>
+ <SupportPoint posX="667.892" posY="358.014"/>
+ <SupportPoint posX="680.555" posY="371.519"/>
+ <SupportPoint posX="691.544" posY="384.513"/>
</SupportPoints>
</Transition>
<Transition from="Armar6Foto" to="Failure" eventName="Failure">
@@ -60,13 +65,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="385.142" posY="250.156"/>
- <SupportPoint posX="410.6" posY="242.548"/>
- <SupportPoint posX="441.792" posY="231.95"/>
- <SupportPoint posX="468.333" posY="219.167"/>
- <SupportPoint posX="470.783" posY="217.983"/>
- <SupportPoint posX="473.258" posY="216.725"/>
- <SupportPoint posX="475.733" posY="215.408"/>
+ <SupportPoint posX="777.909" posY="423.119"/>
+ <SupportPoint posX="822.721" posY="413.884"/>
+ <SupportPoint posX="884.207" posY="399.084"/>
+ <SupportPoint posX="904" posY="384.056"/>
+ <SupportPoint posX="927.882" posY="365.911"/>
+ <SupportPoint posX="945.553" posY="337.493"/>
+ <SupportPoint posX="957.488" posY="312.704"/>
</SupportPoints>
</Transition>
<Transition from="Armar6Foto" to="Success" eventName="Success">
@@ -74,13 +79,77 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="385.133" posY="272.415"/>
- <SupportPoint posX="390.142" posY="273.11"/>
- <SupportPoint posX="395.167" posY="273.715"/>
- <SupportPoint posX="400" posY="274.167"/>
- <SupportPoint posX="424.483" posY="276.452"/>
- <SupportPoint posX="451.617" posY="277.264"/>
- <SupportPoint posX="474.925" posY="277.436"/>
+ <SupportPoint posX="777.781" posY="456.733"/>
+ <SupportPoint posX="785.243" posY="459.434"/>
+ <SupportPoint posX="792.974" posY="461.757"/>
+ <SupportPoint posX="800.5" posY="463.278"/>
+ <SupportPoint posX="837.594" posY="470.768"/>
+ <SupportPoint posX="879.965" posY="470.431"/>
+ <SupportPoint posX="913.877" posY="468.077"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="ResolveLandmark" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.294" posY="178.18"/>
+ <SupportPoint posX="221.897" posY="177.72"/>
+ <SupportPoint posX="229.653" posY="177.311"/>
+ <SupportPoint posX="237" posY="177.056"/>
+ <SupportPoint posX="282.974" posY="175.446"/>
+ <SupportPoint posX="294.5" posY="176.749"/>
+ <SupportPoint posX="340.5" posY="177.056"/>
+ <SupportPoint posX="534.863" posY="178.372"/>
+ <SupportPoint posX="585.233" posY="165.185"/>
+ <SupportPoint posX="777.5" posY="193.667"/>
+ <SupportPoint posX="834.732" posY="202.151"/>
+ <SupportPoint posX="849.886" posY="203.889"/>
+ <SupportPoint posX="904" posY="224.333"/>
+ <SupportPoint posX="907.629" posY="225.701"/>
+ <SupportPoint posX="911.296" posY="227.208"/>
+ <SupportPoint posX="914.976" posY="228.818"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="ResolveLandmark" to="GoToGoalPositionWithObstacleAvoidance" eventName="Success">
+ <ParameterMappings>
+ <ParameterMapping sourceType="Output" from="landmarkPosition" to="GoalPose"/>
+ </ParameterMappings>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.217" posY="208.042"/>
+ <SupportPoint posX="262.619" posY="233.073"/>
+ <SupportPoint posX="335.989" posY="270.998"/>
+ <SupportPoint posX="387.152" posY="297.448"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GoToGoalPositionWithObstacleAvoidance" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="528.436" posY="319.285"/>
+ <SupportPoint posX="595.57" posY="312.155"/>
+ <SupportPoint posX="692.732" posY="301.486"/>
+ <SupportPoint posX="777.5" posY="290.778"/>
+ <SupportPoint posX="823.296" posY="284.989"/>
+ <SupportPoint posX="874.892" posY="277.693"/>
+ <SupportPoint posX="914.12" posY="271.982"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="GoToGoalPositionWithObstacleAvoidance" to="Armar6Foto" eventName="Success">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="480.059" posY="352.354"/>
+ <SupportPoint posX="500.018" posY="365.681"/>
+ <SupportPoint posX="526.161" posY="381.481"/>
+ <SupportPoint posX="551.333" posY="391.722"/>
+ <SupportPoint posX="587.724" posY="406.528"/>
+ <SupportPoint posX="630.632" posY="416.625"/>
+ <SupportPoint posX="665.004" posY="423.08"/>
</SupportPoints>
</Transition>
</Transitions>
diff --git a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/PlaceObjectTask.xml b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/PlaceObjectTask.xml
index cc65ff82b6c68bc332ade2e7d9476d4605d501cf..304473b32404d9949a119dbe43c5f6e74eeec888 100644
--- a/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/PlaceObjectTask.xml
+++ b/source/armar6/skills/statecharts/Armar6HighlevelTaskGroup/PlaceObjectTask.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<State version="1.2" name="PlaceObjectTask" uuid="AC3D3B4A-C95E-412E-9BF9-65A0A8EBA4D9" width="1944.72" height="605.083" type="Normal State">
+<State version="1.2" name="PlaceObjectTask" uuid="AC3D3B4A-C95E-412E-9BF9-65A0A8EBA4D9" width="1687.89" height="608.917" type="Normal State">
<InputParameters>
<Parameter name="FixedObjectName" type="::armarx::StringVariantData" docType="string" optional="yes">
<DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"spraybottle"}}' docValue="spraybottle"/>
@@ -9,6 +9,7 @@
</Parameter>
<Parameter name="RetreatLandmark" type="::armarx::StringVariantData" docType="string" optional="no">
<DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"wb_retreat"}}' docValue="wb_retreat"/>
+ <DefaultValue profile="Armar6Real" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"wb_exit"}}' docValue="wb_exit"/>
</Parameter>
<Parameter name="args" type="::armarx::SingleTypeVariantListBase(::memoryx::EntityRefBase)" docType="List(EntityRef)" optional="yes"/>
</InputParameters>
@@ -18,15 +19,15 @@
<Parameter name="ObjectName" type="::armarx::StringVariantData" docType="string" optional="no"/>
</LocalParameters>
<Substates>
- <RemoteState name="DetachObjectInMemory" refuuid="0A56EFF2-73D5-4887-A2AF-1DC488C70E4F" proxyName="MemoryXUtilityRemoteStateOfferer" left="282.872" top="315.111" boundingSquareSize="99.6636"/>
- <EndState name="Failure" event="Failure" left="1814.72" top="387.944" boundingSquareSize="99.6636"/>
- <RemoteState name="GoHome" refuuid="6A0FD8EC-064D-4A4A-B036-3C2995564588" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1565.72" top="238.778" boundingSquareSize="99.6636"/>
- <RemoteState name="LookAhead" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="532.038" top="394.333" boundingSquareSize="99.6636"/>
- <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="1294.19" top="308.611" boundingSquareSize="99.6636"/>
- <RemoteState name="PlaceObject" refuuid="B9EE5C67-0F89-466A-832F-F4025B493344" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="31.7666" top="303.611" boundingSquareSize="99.6636"/>
- <RemoteState name="PlaceObjectOnTable" refuuid="37E2E508-1C2C-4DE1-B783-9C92862A952C" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="282.872" top="500.083" boundingSquareSize="99.6636"/>
- <RemoteState name="RetreatPlatform" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="970.511" top="380.389" boundingSquareSize="152.058"/>
- <EndState name="Success" event="Success" left="1814.72" top="163.056" boundingSquareSize="99.6636"/>
+ <RemoteState name="DetachObjectInMemory" refuuid="0A56EFF2-73D5-4887-A2AF-1DC488C70E4F" proxyName="MemoryXUtilityRemoteStateOfferer" left="279" top="318.944" boundingSquareSize="99.6636"/>
+ <EndState name="Failure" event="Failure" left="1558.06" top="453.111" boundingSquareSize="99.6636"/>
+ <RemoteState name="GoHome" refuuid="6A0FD8EC-064D-4A4A-B036-3C2995564588" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="1308.89" top="140.389" boundingSquareSize="99.6636"/>
+ <RemoteState name="LookAhead" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" proxyName="MotionControlGroupRemoteStateOfferer" left="528.167" top="398.167" boundingSquareSize="99.6636"/>
+ <RemoteState name="NavigationPose" refuuid="E7374741-A6DF-4E3F-B05D-68A1EB44D6A5" proxyName="Armar6PosesRemoteStateOfferer" left="1308.89" top="311.167" boundingSquareSize="99.6636"/>
+ <RemoteState name="PlaceObject" refuuid="B9EE5C67-0F89-466A-832F-F4025B493344" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="30" top="258.889" boundingSquareSize="99.6636"/>
+ <RemoteState name="PlaceObjectOnTable" refuuid="37E2E508-1C2C-4DE1-B783-9C92862A952C" proxyName="Armar6GraspingGroupRemoteStateOfferer" left="279" top="547.389" boundingSquareSize="99.6636"/>
+ <RemoteState name="RetreatPlatform" refuuid="19478C7D-BC94-4BA1-8C85-33EC9EECCC74" proxyName="NavigateToLocationGroupRemoteStateOfferer" left="966.639" top="381" boundingSquareSize="152.058"/>
+ <EndState name="Success" event="Success" left="1558.06" top="241" boundingSquareSize="99.6636"/>
</Substates>
<Events>
<Event name="Failure">
@@ -39,10 +40,10 @@
<ParameterMapping sourceType="Parent" from="ObjectName" to="ObjectName"/>
</ParameterMappings>
<SupportPoints>
- <SupportPoint posX="100.639" posY="556.556"/>
- <SupportPoint posX="136.118" posY="556.556"/>
- <SupportPoint posX="214.204" posY="556.556"/>
- <SupportPoint posX="270.031" posY="556.556"/>
+ <SupportPoint posX="98.5617" posY="560.389"/>
+ <SupportPoint posX="133.661" posY="560.389"/>
+ <SupportPoint posX="210.793" posY="560.389"/>
+ <SupportPoint posX="266.159" posY="560.389"/>
</SupportPoints>
</StartState>
<Transitions>
@@ -51,25 +52,22 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="118.923" posY="303.351"/>
- <SupportPoint posX="164.946" posY="261.325"/>
- <SupportPoint posX="247.746" posY="198.778"/>
- <SupportPoint posX="332.872" posY="198.778"/>
- <SupportPoint posX="332.872" posY="198.778"/>
- <SupportPoint posX="332.872" posY="198.778"/>
- <SupportPoint posX="801.177" posY="198.778"/>
- <SupportPoint posX="1185.47" posY="198.778"/>
- <SupportPoint posX="1303.6" posY="90.2178"/>
- <SupportPoint posX="1665.56" posY="219.222"/>
- <SupportPoint posX="1677.82" posY="223.567"/>
- <SupportPoint posX="1677.57" posY="230.339"/>
- <SupportPoint posX="1688.56" posY="237.111"/>
- <SupportPoint posX="1731.87" posY="263.663"/>
- <SupportPoint posX="1755.38" posY="250.528"/>
- <SupportPoint posX="1792.06" posY="285.667"/>
- <SupportPoint posX="1817.99" posY="310.443"/>
- <SupportPoint posX="1836.39" posY="346.425"/>
- <SupportPoint posX="1848.28" posY="375.609"/>
+ <SupportPoint posX="130.022" posY="282.728"/>
+ <SupportPoint posX="180.062" posY="270.768"/>
+ <SupportPoint posX="259.297" posY="255"/>
+ <SupportPoint posX="329" posY="255"/>
+ <SupportPoint posX="329" posY="255"/>
+ <SupportPoint posX="329" posY="255"/>
+ <SupportPoint posX="1213.86" posY="255"/>
+ <SupportPoint posX="1302.02" posY="255"/>
+ <SupportPoint posX="1324.01" posY="267.561"/>
+ <SupportPoint posX="1408.72" posY="292.056"/>
+ <SupportPoint posX="1466.73" posY="308.846"/>
+ <SupportPoint posX="1490.76" posY="300.936"/>
+ <SupportPoint posX="1535.22" posY="341.889"/>
+ <SupportPoint posX="1563.97" posY="368.39"/>
+ <SupportPoint posX="1582.76" posY="408.729"/>
+ <SupportPoint posX="1594" posY="440.636"/>
</SupportPoints>
</Transition>
<Transition from="PlaceObject" to="DetachObjectInMemory" eventName="Success">
@@ -79,10 +77,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="131.977" posY="342.911"/>
- <SupportPoint posX="171.667" posY="344.726"/>
- <SupportPoint posX="227.289" posY="347.281"/>
- <SupportPoint posX="269.954" posY="349.236"/>
+ <SupportPoint posX="129.794" posY="312.385"/>
+ <SupportPoint posX="137.42" posY="314.685"/>
+ <SupportPoint posX="145.227" posY="316.934"/>
+ <SupportPoint posX="152.667" posY="318.889"/>
+ <SupportPoint posX="189.927" posY="328.664"/>
+ <SupportPoint posX="232.144" posY="337.608"/>
+ <SupportPoint posX="265.929" posY="344.266"/>
</SupportPoints>
</Transition>
<Transition from="DetachObjectInMemory" to="LookAhead" eventName="Failure">
@@ -94,13 +95,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="382.82" posY="360.787"/>
- <SupportPoint posX="418.636" posY="367.789"/>
- <SupportPoint posX="467.703" posY="378.996"/>
- <SupportPoint posX="509.205" posY="394.278"/>
- <SupportPoint posX="512.872" posY="395.632"/>
- <SupportPoint posX="516.603" posY="397.127"/>
- <SupportPoint posX="520.334" posY="398.712"/>
+ <SupportPoint posX="378.948" posY="364.621"/>
+ <SupportPoint posX="414.764" posY="371.623"/>
+ <SupportPoint posX="463.831" posY="382.829"/>
+ <SupportPoint posX="505.333" posY="398.111"/>
+ <SupportPoint posX="509.013" posY="399.466"/>
+ <SupportPoint posX="512.744" posY="400.961"/>
+ <SupportPoint posX="516.476" posY="402.545"/>
</SupportPoints>
</Transition>
<Transition from="DetachObjectInMemory" to="LookAhead" eventName="Success">
@@ -112,13 +113,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="353.342" posY="389.358"/>
- <SupportPoint posX="365.8" posY="407.976"/>
- <SupportPoint posX="383.587" posY="428.676"/>
- <SupportPoint posX="405.705" posY="439"/>
- <SupportPoint posX="440.793" posY="455.372"/>
- <SupportPoint posX="484.199" posY="453.715"/>
- <SupportPoint posX="519.159" posY="447.837"/>
+ <SupportPoint posX="349.483" posY="393.192"/>
+ <SupportPoint posX="361.941" posY="411.809"/>
+ <SupportPoint posX="379.715" posY="432.509"/>
+ <SupportPoint posX="401.833" posY="442.833"/>
+ <SupportPoint posX="436.921" posY="459.206"/>
+ <SupportPoint posX="480.327" posY="457.548"/>
+ <SupportPoint posX="515.3" posY="451.67"/>
</SupportPoints>
</Transition>
<Transition from="LookAhead" to="RetreatPlatform" eventName="EvJointTargetReached">
@@ -128,10 +129,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="632.178" posY="430.362"/>
- <SupportPoint posX="709.816" posY="428.867"/>
- <SupportPoint posX="860.185" posY="425.979"/>
- <SupportPoint posX="956.836" posY="424.114"/>
+ <SupportPoint posX="628.319" posY="433.097"/>
+ <SupportPoint posX="705.944" posY="429.889"/>
+ <SupportPoint posX="856.313" posY="423.692"/>
+ <SupportPoint posX="952.964" posY="419.706"/>
</SupportPoints>
</Transition>
<Transition from="LookAhead" to="Failure" eventName="EvTimeout">
@@ -139,13 +140,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="632.114" posY="440.061"/>
- <SupportPoint posX="705.893" posY="452.424"/>
- <SupportPoint posX="848.302" posY="474.442"/>
- <SupportPoint posX="970.483" posY="482.444"/>
- <SupportPoint posX="1282.54" posY="502.886"/>
- <SupportPoint posX="1655.84" posY="455.794"/>
- <SupportPoint posX="1802.02" posY="434.604"/>
+ <SupportPoint posX="628.166" posY="441.99"/>
+ <SupportPoint posX="726.351" posY="455.022"/>
+ <SupportPoint posX="951.38" posY="482.984"/>
+ <SupportPoint posX="1141.67" posY="492.667"/>
+ <SupportPoint posX="1205.76" posY="495.928"/>
+ <SupportPoint posX="1221.89" posY="492.921"/>
+ <SupportPoint posX="1286.06" posY="492.667"/>
+ <SupportPoint posX="1376.01" posY="492.31"/>
+ <SupportPoint posX="1480.15" posY="491.391"/>
+ <SupportPoint posX="1545.06" posY="490.759"/>
</SupportPoints>
</Transition>
<Transition from="NavigationPose" to="Failure" eventName="Failure">
@@ -153,23 +157,29 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1394.16" posY="348.699"/>
- <SupportPoint posX="1489.48" posY="364.135"/>
- <SupportPoint posX="1697.24" posY="397.779"/>
- <SupportPoint posX="1801.89" posY="414.735"/>
+ <SupportPoint posX="1400.16" posY="375.188"/>
+ <SupportPoint posX="1410.26" posY="382.599"/>
+ <SupportPoint posX="1421.24" posY="390.24"/>
+ <SupportPoint posX="1431.72" posY="396.833"/>
+ <SupportPoint posX="1468.52" posY="419.987"/>
+ <SupportPoint posX="1511.71" posY="442.884"/>
+ <SupportPoint posX="1546.21" posY="460.202"/>
</SupportPoints>
</Transition>
- <Transition from="NavigationPose" to="GoHome" eventName="Success">
+ <Transition from="NavigationPose" to="Success" eventName="Success">
<ParameterMappings>
<ParameterMapping sourceType="Parent" from="HomeLandmark" to="LandmarkName"/>
</ParameterMappings>
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1394.67" posY="327.079"/>
- <SupportPoint posX="1439.39" posY="315.068"/>
- <SupportPoint posX="1505.07" posY="297.486"/>
- <SupportPoint posX="1553.11" posY="284.581"/>
+ <SupportPoint posX="1408.85" posY="349.581"/>
+ <SupportPoint posX="1445.01" posY="352.303"/>
+ <SupportPoint posX="1494.59" posY="351.945"/>
+ <SupportPoint posX="1535.22" posY="336.778"/>
+ <SupportPoint posX="1544.17" posY="333.456"/>
+ <SupportPoint posX="1552.73" posY="328.587"/>
+ <SupportPoint posX="1560.78" posY="323.054"/>
</SupportPoints>
</Transition>
<Transition from="PlaceObjectOnTable" to="Failure" eventName="Failure">
@@ -177,16 +187,16 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="383.114" posY="557.105"/>
- <SupportPoint posX="521.472" posY="558.213"/>
- <SupportPoint posX="919.538" posY="558.664"/>
- <SupportPoint posX="1249.04" posY="532.278"/>
- <SupportPoint posX="1491.78" posY="512.839"/>
- <SupportPoint posX="1558.61" posY="528.577"/>
- <SupportPoint posX="1792.06" posY="459.444"/>
- <SupportPoint posX="1795.63" posY="458.402"/>
- <SupportPoint posX="1799.21" posY="457.21"/>
- <SupportPoint posX="1802.79" posY="455.911"/>
+ <SupportPoint posX="378.936" posY="559.915"/>
+ <SupportPoint posX="503.736" posY="558.514"/>
+ <SupportPoint posX="839.332" posY="553.44"/>
+ <SupportPoint posX="1118.67" posY="537.389"/>
+ <SupportPoint posX="1304.17" posY="526.73"/>
+ <SupportPoint posX="1350.71" posY="524.066"/>
+ <SupportPoint posX="1535.22" posY="501.611"/>
+ <SupportPoint posX="1538.42" posY="501.219"/>
+ <SupportPoint posX="1541.74" posY="500.791"/>
+ <SupportPoint posX="1545.06" posY="500.338"/>
</SupportPoints>
</Transition>
<Transition from="PlaceObjectOnTable" to="LookAhead" eventName="Success">
@@ -198,13 +208,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="381.197" posY="546.248"/>
- <SupportPoint posX="417.984" posY="537.062"/>
- <SupportPoint posX="468.981" posY="521.377"/>
- <SupportPoint posX="509.205" posY="497.778"/>
- <SupportPoint posX="518.967" posY="492.05"/>
- <SupportPoint posX="528.538" posY="484.848"/>
- <SupportPoint posX="537.38" posY="477.315"/>
+ <SupportPoint posX="378.859" posY="549.696"/>
+ <SupportPoint posX="415.531" posY="540.459"/>
+ <SupportPoint posX="465.671" posY="524.883"/>
+ <SupportPoint posX="505.333" posY="501.611"/>
+ <SupportPoint posX="515.096" posY="495.883"/>
+ <SupportPoint posX="524.679" posY="488.681"/>
+ <SupportPoint posX="533.508" posY="481.149"/>
</SupportPoints>
</Transition>
<Transition from="GoHome" to="Failure" eventName="Failure">
@@ -212,16 +222,19 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1648.69" posY="297.243"/>
- <SupportPoint posX="1660.7" posY="307.006"/>
- <SupportPoint posX="1674.76" posY="317.394"/>
- <SupportPoint posX="1688.56" posY="325.278"/>
- <SupportPoint posX="1731.36" posY="349.619"/>
- <SupportPoint posX="1749.51" posY="340.1"/>
- <SupportPoint posX="1792.06" posY="364.889"/>
- <SupportPoint posX="1799.59" posY="369.272"/>
- <SupportPoint posX="1807.13" posY="374.408"/>
- <SupportPoint posX="1814.29" posY="379.813"/>
+ <SupportPoint posX="1386.11" posY="199.148"/>
+ <SupportPoint posX="1393.64" posY="207.876"/>
+ <SupportPoint posX="1401.69" posY="217.587"/>
+ <SupportPoint posX="1408.72" posY="226.889"/>
+ <SupportPoint posX="1420.09" posY="242.018"/>
+ <SupportPoint posX="1416.77" posY="251.064"/>
+ <SupportPoint posX="1431.72" posY="262.667"/>
+ <SupportPoint posX="1470.06" posY="292.413"/>
+ <SupportPoint posX="1500.21" posY="263.561"/>
+ <SupportPoint posX="1535.22" posY="297.167"/>
+ <SupportPoint posX="1556.31" posY="317.432"/>
+ <SupportPoint posX="1580.07" posY="390.342"/>
+ <SupportPoint posX="1594.64" posY="440.495"/>
</SupportPoints>
</Transition>
<Transition from="GoHome" to="Success" eventName="Success">
@@ -229,10 +242,13 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1666.19" posY="254.067"/>
- <SupportPoint posX="1705.42" posY="243.385"/>
- <SupportPoint posX="1760.24" posY="228.499"/>
- <SupportPoint posX="1802.41" posY="217.05"/>
+ <SupportPoint posX="1408.85" posY="177.337"/>
+ <SupportPoint posX="1445.39" posY="184.492"/>
+ <SupportPoint posX="1495.23" posY="197.155"/>
+ <SupportPoint posX="1535.22" posY="217.944"/>
+ <SupportPoint posX="1543.14" posY="222.059"/>
+ <SupportPoint posX="1550.94" posY="227.132"/>
+ <SupportPoint posX="1558.48" posY="232.575"/>
</SupportPoints>
</Transition>
<Transition from="RetreatPlatform" to="Failure" eventName="Failure">
@@ -240,10 +256,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1122.77" posY="422.632"/>
- <SupportPoint posX="1283.38" posY="423.13"/>
- <SupportPoint posX="1653.93" posY="424.28"/>
- <SupportPoint posX="1802.02" posY="424.753"/>
+ <SupportPoint posX="1118.9" posY="425.992"/>
+ <SupportPoint posX="1231.63" posY="440.776"/>
+ <SupportPoint posX="1440.67" posY="468.173"/>
+ <SupportPoint posX="1545.19" posY="481.869"/>
</SupportPoints>
</Transition>
<Transition from="RetreatPlatform" to="NavigationPose" eventName="Success">
@@ -251,10 +267,10 @@
<ParameterMappingsToParentsLocal/>
<ParameterMappingsToParentsOutput/>
<SupportPoints>
- <SupportPoint posX="1122.79" posY="401.433"/>
- <SupportPoint posX="1172.08" posY="387.902"/>
- <SupportPoint posX="1235.43" posY="370.498"/>
- <SupportPoint posX="1281.74" posY="357.772"/>
+ <SupportPoint posX="1118.79" posY="398.456"/>
+ <SupportPoint posX="1173.22" posY="385.934"/>
+ <SupportPoint posX="1245.54" posY="369.272"/>
+ <SupportPoint posX="1296.55" posY="357.529"/>
</SupportPoints>
</Transition>
</Transitions>