Skip to content

Commit ac01d2f

Browse files
dyackzandyackzan
authored
Merge pull request #76 from PickNikRobotics/use-pro-rrt-mtc-behaviors
Use new Pro RRT SetupMTCPlanTo_ behaviors Former-commit-id: 7280163
2 parents b348491 + 1b63f10 commit ac01d2f

File tree

47 files changed

+62
-171
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

47 files changed

+62
-171
lines changed

‎src/fanuc_sim/objectives/move_to_pose.xml‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -14,12 +14,11 @@
1414
/>
1515
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
1616
<Action
17-
ID="SetupMTCMoveToPose"
17+
ID="SetupMTCPlanToPose"
1818
ik_frame="tool0"
1919
planning_group_name="manipulator"
2020
target_pose="{target_pose}"
2121
task="{move_to_pose_task}"
22-
planner_interface="moveit_default"
2322
/>
2423
<Action
2524
ID="PlanMTCTask"

‎src/lab_sim/objectives/add_waypoints_to_mtc_task.xml‎

Lines changed: 4 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@
66
_subtreeOnly="true"
77
_description=""
88
joint_group_name="manipulator"
9-
planner_interface="moveit_default"
109
mtc_task="{mtc_task}"
1110
>
1211
<Control ID="Sequence">
@@ -17,11 +16,10 @@
1716
joint_group_name="{joint_group_name}"
1817
/>
1918
<Action
20-
ID="SetupMTCMoveToJointState"
19+
ID="SetupMTCPlanToJointState"
2120
joint_state="{target_joint_state}"
22-
name="SetupMTCMoveToJointState"
21+
name="SetupMTCPlanToJointState"
2322
planning_group_name="{joint_group_name}"
24-
planner_interface="{planner_interface}"
2523
task="{mtc_task}"
2624
/>
2725
<Action
@@ -31,19 +29,17 @@
3129
joint_group_name="{joint_group_name}"
3230
/>
3331
<Action
34-
ID="SetupMTCMoveToJointState"
32+
ID="SetupMTCPlanToJointState"
3533
joint_state="{target_joint_state}"
36-
name="SetupMTCMoveToJointState"
34+
name="SetupMTCPlanToJointState"
3735
planning_group_name="{joint_group_name}"
38-
planner_interface="{planner_interface}"
3936
task="{mtc_task}"
4037
/>
4138
</Control>
4239
</BehaviorTree>
4340
<TreeNodesModel>
4441
<SubTree ID="Add Waypoints to MTC Task">
4542
<input_port name="joint_group_name" default="manipulator" />
46-
<input_port name="planner_interface" default="moveit_default" />
4743
<inout_port name="mtc_task" default="{mtc_task}" />
4844
<MetadataFields>
4945
<Metadata subcategory="Application - Basic Examples" />

‎src/lab_sim/objectives/constrained_pick_and_place_subtree.xml‎

Lines changed: 12 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -10,17 +10,6 @@
1010
_description=""
1111
>
1212
<Control ID="Sequence">
13-
<!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
14-
<Action
15-
ID="InitializeMotionConstraints"
16-
constraints_name="gripper pointing down"
17-
constraints="{constraints}"
18-
/>
19-
<Action
20-
ID="AppendOrientationConstraint"
21-
config_file_name="my_constraints.yaml"
22-
constraints="{constraints}"
23-
/>
2413
<!--Move to pick location-->
2514
<!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
2615
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -30,7 +19,8 @@
3019
joint_group_name="manipulator"
3120
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
3221
planner_interface="moveit_default"
33-
constraints="{constraints}"
22+
keep_orientation="true"
23+
keep_orientation_tolerance="0.2"
3424
/>
3525
</Decorator>
3626
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -40,7 +30,8 @@
4030
joint_group_name="manipulator"
4131
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
4232
planner_interface="moveit_default"
43-
constraints="{constraints}"
33+
keep_orientation="true"
34+
keep_orientation_tolerance="0.2"
4435
/>
4536
</Decorator>
4637
<!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
@@ -54,7 +45,8 @@
5445
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
5546
joint_group_name="manipulator"
5647
planner_interface="moveit_default"
57-
constraints="{constraints}"
48+
keep_orientation="true"
49+
keep_orientation_tolerance="0.2"
5850
_collapsed="true"
5951
waypoint_name="{pre_pick}"
6052
/>
@@ -65,7 +57,8 @@
6557
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
6658
joint_group_name="manipulator"
6759
planner_interface="moveit_default"
68-
constraints="{constraints}"
60+
keep_orientation="true"
61+
keep_orientation_tolerance="0.2"
6962
_collapsed="true"
7063
waypoint_name="{pre_place}"
7164
/>
@@ -76,7 +69,8 @@
7669
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
7770
joint_group_name="manipulator"
7871
planner_interface="moveit_default"
79-
constraints="{constraints}"
72+
keep_orientation="true"
73+
keep_orientation_tolerance="0.2"
8074
_collapsed="true"
8175
waypoint_name="{place}"
8276
/>
@@ -88,7 +82,8 @@
8882
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
8983
joint_group_name="manipulator"
9084
planner_interface="moveit_default"
91-
constraints="{constraints}"
85+
keep_orientation="true"
86+
keep_orientation_tolerance="0.2"
9287
_collapsed="true"
9388
waypoint_name="{pre_place}"
9489
/>

‎src/lab_sim/objectives/constrained_pick_place.xml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -11,14 +11,12 @@
1111
<SubTree
1212
ID="Move to Waypoint"
1313
_collapsed="true"
14-
constraints="{constraints}"
1514
waypoint_name="Beaker 1a - Pre Pick"
1615
joint_group_name="manipulator"
1716
controller_names="/joint_trajectory_controller"
1817
velocity_scale_factor="1.0"
1918
acceleration_scale_factor="1.0"
2019
link_padding="0.01"
21-
keep_orientation_tolerance="0.05"
2220
keep_orientation="false"
2321
/>
2422
<SubTree ID="Open Gripper" />

‎src/lab_sim/objectives/joint_diagnostic.xml‎

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,6 @@
1212
waypoint_name="Look at Table"
1313
joint_group_name="manipulator"
1414
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
15-
planner_interface="moveit_default"
1615
/>
1716
<Decorator ID="KeepRunningUntilFailure">
1817
<Control ID="Sequence">
@@ -22,14 +21,12 @@
2221
waypoint_name="Wrist 2 Max"
2322
joint_group_name="manipulator"
2423
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
25-
planner_interface="moveit_default"
2624
/>
2725
<SubTree
2826
ID="Move to Waypoint"
2927
waypoint_name="Wrist 2 Min"
3028
joint_group_name="manipulator"
3129
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
32-
planner_interface="moveit_default"
3330
/>
3431
</Control>
3532
</Decorator>

‎src/lab_sim/objectives/load_and_execute_joint_trajectory.xml‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,6 @@
1414
_collapsed="true"
1515
waypoint_name="Workspace Right"
1616
joint_group_name="manipulator"
17-
planner_interface="moveit_default"
1817
controller_names="/joint_trajectory_controller"
1918
acceleration_scale_factor="1.0"
2019
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"

‎src/lab_sim/objectives/plan_move_to_pose.xml‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -15,12 +15,11 @@
1515
/>
1616
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
1717
<Action
18-
ID="SetupMTCMoveToPose"
18+
ID="SetupMTCPlanToPose"
1919
ik_frame="grasp_link"
2020
planning_group_name="manipulator"
2121
target_pose="{target_pose}"
2222
task="{move_to_pose_task}"
23-
planner_interface="moveit_default"
2423
/>
2524
<Action
2625
ID="PlanMTCTask"

‎src/lab_sim/objectives/plan_to_pose.xml‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -31,12 +31,11 @@
3131
/>
3232
<Action ID="Script" code="pose_ctr += 1" />
3333
<Action
34-
ID="SetupMTCMoveToPose"
34+
ID="SetupMTCPlanToPose"
3535
ik_frame="{ik_frame}"
3636
planning_group_name="{planning_group_name}"
3737
target_pose="{target_pose}"
3838
task="{mtc_task}"
39-
planner_interface="moveit_default"
4039
/>
4140
</Control>
4241
</Decorator>

‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/description/robotiq_2f_85_macro.xacro‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,8 +7,6 @@
77
fake_sensor_commands:=false
88
sim_ignition:=false
99
sim_isaac:=false
10-
isaac_joint_commands:=/isaac_joint_commands
11-
isaac_joint_states:=/isaac_joint_states
1210
use_internal_bus_gripper_comm:=false
1311
com_port:=/dev/ttyUSB0
1412
moveit_active:=false">

‎src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@
1919
/>
2020
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
2121
<Action
22-
ID="SetupMTCMoveToPose"
22+
ID="SetupMTCPlanToPose"
2323
ik_frame="grasp_link"
2424
planning_group_name="manipulator"
2525
target_pose="{target_pose}"

0 commit comments

Comments
 (0)