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MikeWrockMikeWrock
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Merge pull request #7 from PickNikRobotics/xacro-update
Updating xacro and favourites
2 parents 4a7aa99 + f68f9be commit 350c75b

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14 files changed

+34
-91
lines changed

14 files changed

+34
-91
lines changed

‎src/lab_sim/description/picknik_ur.xacro‎

Lines changed: 7 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,9 @@
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<material name="plastic">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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<material name="offwhite">
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<color rgba="0.01 0.01 0.01 1" />
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</material>
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<link name="world" />
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<joint name="tool_changer_joint" type="fixed">
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<!-- The parent link must be read from the robot model it is attached to. -->
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<!-- Table -->
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<link name="table">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.025" />
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<geometry>
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<mesh
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filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
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scale="0.125 0.125 0.00625"
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/>
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</geometry>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.4 0.4 -0.2" />
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<geometry>
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<box size="0.04 0.04 0.45" />
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</geometry>
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<material name="grey">
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<color rgba="0.1 0.1 0.1 1.0" />
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0.4 -0.4 -0.2" />
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<geometry>
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<box size="0.04 0.04 0.45" />
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</geometry>
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<material name="grey">
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<color rgba="0.1 0.1 0.1 1.0" />
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.4 -0.4 -0.2" />
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<origin rpy="0 0 0" xyz="0 0 -0.45" />
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<geometry>
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<box size="0.04 0.04 0.45" />
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<box size="3.5 1 0.9" />
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</geometry>
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<material name="grey">
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<color rgba="0.1 0.1 0.1 1.0" />
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="-0.4 0.4 -0.2" />
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<geometry>
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<box size="0.04 0.04 0.45" />
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</geometry>
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<material name="grey">
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<color rgba="0.1 0.1 0.1 1.0" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0" />
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<origin rpy="0 0 0" xyz="0 0 -0.45" />
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<geometry>
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<mesh
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filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
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scale="0.125 0.125 0.00625"
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/>
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<box size="3.5 1 0.9" />
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</geometry>
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</collision>
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</link>

‎src/lab_sim/objectives/apriltag_pick_object.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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<BehaviorTree
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ID="Pick April Tag Labeled Object"
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_description="Picks up an object that has an AprilTag marker."
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_favorite="false"
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_favorite="true"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree ID="Look at table" _collapsed="true" />

‎src/lab_sim/objectives/constrained_pick_place.xml‎

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@@ -51,8 +51,10 @@
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constraints="{constraints}"
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/>
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</Decorator>
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<!--Pick-->
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<SubTree ID="Close Gripper" />
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<!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
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<Decorator ID="ForceSuccess">
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<SubTree ID="Close Gripper" />
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</Decorator>
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<!--Move to place (drop) location-->
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<Decorator ID="RetryUntilSuccessful" num_attempts="3">
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<SubTree
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waypoint_name="Place Cube"
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/>
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</Decorator>
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<SubTree ID="Close Gripper" />
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<Decorator ID="ForceSuccess">
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<SubTree ID="Close Gripper" />
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</Decorator>
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<Decorator ID="RetryUntilSuccessful" num_attempts="3">
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<SubTree
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ID="Move to Waypoint"

‎src/lab_sim/objectives/create_pose_vector.xml‎

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@@ -1,7 +1,6 @@
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<?xml version="1.0" encoding="utf-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Create Pose Vector">
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<!--//////////-->
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<BehaviorTree ID="Create Pose Vector">
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<BehaviorTree ID="Create Pose Vector" _favorite="false">
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<Control ID="Sequence">
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<Action
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ID="CreateStampedPose"

‎src/lab_sim/objectives/load_and_execute_joint_trajectory.xml‎

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/>
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<Action
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ID="LoadJointTrajectoryFromYaml"
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file_path="/home/michael/user_ws/src/lab_sim/objectives/joint_trajectory.yaml"
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file_path="joint_trajectory.yaml"
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/>
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<Action ID="ExecuteFollowJointTrajectory" />
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</Control>

‎src/lab_sim/objectives/look_at_table.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Look at table">
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<!--//////////-->
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<BehaviorTree ID="Look at table" _description="" _favorite="false">
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<BehaviorTree ID="Look at table" _description="" _favorite="true">
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree
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ID="Move to Waypoint"

‎src/lab_sim/objectives/move_with_velocity_and_force.xml‎

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@@ -3,7 +3,7 @@
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<BehaviorTree
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ID="Move until Force Contact"
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_description="An example for how to use the VFC to move with a velocity / force reference until it collides"
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_favorite="false"
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_favorite="true"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree

‎src/lab_sim/objectives/place_object.xml‎

Lines changed: 7 additions & 2 deletions
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@@ -1,6 +1,11 @@
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<root BTCPP_format="4" main_tree_to_execute="Place object">
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<root BTCPP_format="4" main_tree_to_execute="Place Object">
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<!--//////////-->
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<BehaviorTree ID="Place object" _description="" _favorite="false">
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<BehaviorTree
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ID="Place Object"
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_description=""
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_favorite="false"
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_subtreeOnly="false"
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>
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<Control ID="Sequence" name="root">
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<Control ID="Sequence">
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<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />

‎src/lab_sim/objectives/record_trajectory.xml‎

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This file was deleted.

‎src/lab_sim/objectives/register_cad_part.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Register CAD Part">
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<!--//////////-->
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<BehaviorTree ID="Register CAD Part" _description="" _favorite="false">
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<BehaviorTree ID="Register CAD Part" _description="" _favorite="true">
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<Control ID="Sequence" name="TopLevelSequence">
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<Action ID="ClearSnapshot" />
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<SubTree ID="Look at table" _collapsed="true" />

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