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MikeWrockMikeWrock
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Squashed 'src/fanuc_sim/' changes from 0b1e054c..6bf7e238
6bf7e238 Merge pull request #1 from PickNikRobotics/subtree-sync 6c95bd1c Sync 6.5 to main (#37) 964e43fb Sync V6.5 to main (#29) baf81139 patching fanuc (#22) 6db5e61f Removes visualization pane changes in teleoperation ca45e9aa version bump c19efc19 formatting git-subtree-dir: src/fanuc_sim git-subtree-split: 6bf7e238341a69ffc88faca491423f88de4a31d9
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10 files changed

+99
-51
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10 files changed

+99
-51
lines changed

‎CMakeLists.txt‎

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@@ -2,7 +2,18 @@ cmake_minimum_required(VERSION 3.22)
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project(fanuc_sim)
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find_package(ament_cmake REQUIRED)
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find_package(picknik_accessories REQUIRED)
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# Install all XML files in directory
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set(PICKNIK_ACCESSORIES_SHARE_DIR
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"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
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)
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# Destination directory
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set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
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install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
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DESTINATION "${DEST_DIR}"
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FILES_MATCHING PATTERN "*")
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install(
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DIRECTORY
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config

‎description/scene.xml‎

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<asset>
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<!-- Define textures and materials -->
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<texture name="wood" type="cube" file="meshes/wood.png" />
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<texture name="wood" type="cube" file="assets/wood.png" />
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<material name="wood" texture="wood" texrepeat="1 1" />
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<!-- Define AprilTag textures -->
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<texture name="apriltag1" type="2d" file="meshes/tag36_11_00000.png" />
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<texture name="apriltag2" type="2d" file="meshes/tag36_11_00001.png" />
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<texture name="apriltag1" type="2d" file="assets/tag36_11_00000.png" />
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<texture name="apriltag2" type="2d" file="assets/tag36_11_00001.png" />
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<!-- Define block materials with AprilTags -->
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<material
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/>
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</asset>
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<asset>
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<mesh name="cube" file="meshes/Cube.stl" />
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<mesh name="cube" file="assets/Cube.stl" />
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</asset>
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<worldbody>
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resolution="640 480"
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euler="-0.9 0 3.1415"
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/>
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<include file="lrmate200id/lrmate200id.xml" />
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<body name="arm_mount">
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<include file="lrmate200id/lrmate200id.xml" />
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</body>
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</worldbody>
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</mujoco>

‎objectives/interpolate_to_joint_state.xml‎

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<TreeNodesModel>
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<SubTree ID="Interpolate to Joint State">
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<input_port name="target_joint_state" default="{target_joint_state}" />
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<MetadataFields>
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<Metadata subcategory="Motion - Execute" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎objectives/move_to_joint_state.xml‎

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<TreeNodesModel>
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<SubTree ID="Move to Joint State">
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<input_port name="target_joint_state" default="{target_joint_state}" />
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<MetadataFields>
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<Metadata subcategory="Motion - Execute" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎objectives/move_to_pose.xml‎

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<TreeNodesModel>
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<SubTree ID="Move to Pose">
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<input_port name="target_pose" default="{target_pose}" />
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<MetadataFields>
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<Metadata subcategory="Motion - Execute" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎objectives/move_to_waypoint.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
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<BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration" _subtreeOnly="true">
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<Control ID="Sequence" name="root">
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<Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
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<Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
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<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
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<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
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<Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
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<Action ID="BlockingExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Move to Waypoint">
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<input_port name="waypoint_name" default="Point A"/>
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<input_port name="joint_group_name" default="manipulator"/>
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<input_port name="planner_interface" default="moveit_default"/>
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<input_port name="controller_names" default="/joint_trajectory_controller"/>
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</SubTree>
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</TreeNodesModel>
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</root>
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<BehaviorTree
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ID="Move to Waypoint"
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_description="This Objective is used when moving to one of the saved waypoints in your site configuration"
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_subtreeOnly="true"
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>
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<Control ID="Sequence" name="root">
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<Action
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ID="RetrieveWaypoint"
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waypoint_joint_state="{target_joint_state}"
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waypoint_name="{waypoint_name}"
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joint_group_name="{joint_group_name}"
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/>
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<Action
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ID="InitializeMTCTask"
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task_id="move_to_named_pose"
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controller_names="{controller_names}"
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task="{move_to_waypoint_task}"
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/>
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<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}" />
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<Action
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ID="SetupMTCMoveToJointState"
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joint_state="{target_joint_state}"
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name="SetupMTCMoveToJointState"
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planning_group_name="{joint_group_name}"
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planner_interface="{planner_interface}"
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constraints="{constraints}"
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task="{move_to_waypoint_task}"
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/>
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<Action
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ID="PlanMTCTask"
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solution="{move_to_waypoint_solution}"
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task="{move_to_waypoint_task}"
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/>
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<Action
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ID="BlockingExecuteMTCTask"
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solution="{move_to_waypoint_solution}"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Move to Waypoint">
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<input_port name="waypoint_name" default="Point A" />
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<input_port name="joint_group_name" default="manipulator" />
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<input_port name="planner_interface" default="moveit_default" />
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<input_port
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name="controller_names"
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default="/joint_trajectory_controller"
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/>
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<MetadataFields>
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<Metadata subcategory="Motion - Execute" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎objectives/request_teleoperation.xml‎

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<!--Joint sliders interpolate to joint state-->
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<Decorator ID="ForceSuccess" _while="teleop_mode == 5">
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<Control ID="Sequence">
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<Action
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ID="SwitchUIPrimaryView"
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primary_view_name="Visualization"
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/>
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<Control ID="Fallback" name="root">
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<Control ID="Sequence">
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<Action
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<!--Interactive markers move to pose-->
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<Decorator ID="ForceSuccess" _while="teleop_mode == 4">
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<Control ID="Sequence">
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<Action
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ID="SwitchUIPrimaryView"
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primary_view_name="Visualization"
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/>
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<Control ID="Fallback" name="root">
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<Control ID="Sequence">
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<Action
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<!--Waypoint buttons move to joint state-->
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<Decorator ID="ForceSuccess" _while="teleop_mode == 3">
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<Control ID="Sequence">
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<Action
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ID="SwitchUIPrimaryView"
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primary_view_name="Visualization"
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/>
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<Control ID="Fallback" name="root">
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<Control ID="Sequence">
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<Action
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</Decorator>
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<!--Cartesian and joint jogging-->
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<Control ID="Sequence" _while="teleop_mode == 2">
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<Action
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ID="SwitchUIPrimaryView"
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primary_view_name="Visualization"
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/>
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<Action
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ID="TeleoperateTwist"
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controller_name="servo_controller"
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/>
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</Control>
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<Control ID="Sequence" _while="teleop_mode == 1">
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<Action
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ID="SwitchUIPrimaryView"
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primary_view_name="Visualization"
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/>
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<Action
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ID="TeleoperateJointJog"
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controller_name="servo_controller"

‎objectives/teleoperate.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Teleoperate">
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<!--//////////-->
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<BehaviorTree ID="Teleoperate" _description="Handles the different variations of teleoperation from the web UI. Can be used standalone." _favorite="false" _hardcoded="false">
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<SubTree ID="Request Teleoperation" enable_user_interaction="false" user_interaction_prompt="" initial_teleop_mode="3"/>
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</BehaviorTree>
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</root>
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<!--//////////-->
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<BehaviorTree
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ID="Teleoperate"
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_description="Handles the different variations of teleoperation from the web UI. Can be used standalone."
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_favorite="false"
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_hardcoded="false"
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>
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<SubTree
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ID="Request Teleoperation"
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enable_user_interaction="false"
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user_interaction_prompt=""
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initial_teleop_mode="3"
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/>
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</BehaviorTree>
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</root>

‎package.xml‎

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<?xml version="1.0" ?>
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<package format="3">
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<name>fanuc_sim</name>
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<version>6.0.0</version>
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<version>6.5.0</version>
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<description>Base configuration package for Picknik's Fanuc arms</description>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>picknik_accessories</depend>
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<exec_depend>admittance_controller</exec_depend>
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<exec_depend>kinematics_interface_kdl</exec_depend>
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<exec_depend>moveit_planners_stomp</exec_depend>

‎waypoints/waypoints.yaml‎

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[]
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[]

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