example scenario bug

[Former user]

It appears that sample_order_update.yaml asks for part placements that interfere, resulting in stacking parts.

[Shane Loretz]

Which part placements interfere in sample_order_update.yaml? It looks OK to me.

Running

rosrun osrf_gear gear.py -f $(catkin_find osrf_gear --share)/config/sample_order_update.yaml $(catkin_find osrf_gear --share)/config/sample_user_config.yaml --verbose

With this diff to make a perfect shipment pre-update on AGV1, and a perfect shipment post-update on AGV 2

diff --git a/osrf_gear/config/sample_order_update.yaml b/osrf_gear/config/sample_order_update.yaml
index 148999d..806eed2 100644
--- a/osrf_gear/config/sample_order_update.yaml
+++ b/osrf_gear/config/sample_order_update.yaml
@@ -6,12 +6,69 @@

 options:
   insert_models_over_bins: true
-  spawn_extra_models: false
+  spawn_extra_models: true
   model_type_aliases:
     order_part1: piston_rod_part
     order_part2: gear_part
     order_part3: disk_part

+models_to_spawn:
+  agv1::kit_tray_1:
+    models:
+      product_0:
+        type: order_part1
+        pose:
+          xyz: [0.1, -0.2, 0]
+          rpy: [0, 0, 0]
+      product_1:
+        type: order_part1
+        pose:
+          xyz: [-0.1, -0.2, 0]
+          rpy: [0, 0, 0]
+      product_2:
+        type: order_part2
+        pose:
+          xyz: [0.15, 0.15, 0]
+          rpy: [0, 0, 0]
+      product_3:
+        type: order_part2
+        pose:
+          xyz: [-0.15, 0.15, 0]
+          rpy: [0, 0, 0]
+      product_4:
+        type: order_part2
+        pose:
+          xyz: [0.0, 0.15, 0]
+          rpy: [0, 0, 0]
+  agv2::kit_tray_2:
+    models:
+      product_0:
+        type: order_part1
+        pose:
+          xyz: [0.1, -0.2, 0]
+          rpy: [0, 0, 0]
+      product_1:
+        type: order_part2
+        pose:
+          xyz: [-0.1, -0.2, 0]
+          rpy: [0, 0, 0]
+      product_2:
+        type: order_part1
+        pose:
+          xyz: [0.15, 0.15, 0]
+          rpy: [0, 0, 0]
+      product_3:
+        type: order_part2
+        pose:
+          xyz: [-0.15, 0.15, 0]
+          rpy: [0, 0, 0]
+      product_4:
+        type: order_part3
+        pose:
+          xyz: [0.0, 0.15, 0]
+          rpy: [0, 0, 0]
+
+
 orders:
   order_0:
     announcement_condition: time

Here is the perfect shipment before the order update:

And here is the perfect shipment after the order update:

[Shane Loretz]

Closing, part placements look fine to me.