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mariopratsmarioprats
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Merge pull request #445 from PickNikRobotics/merge89main
Merge v8.9 into main
2 parents 6ddf5ac + b1e4321 commit f01c0a7

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-8
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11 files changed

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-8
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‎src/factory_sim/config/config.yaml‎

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@@ -146,6 +146,9 @@ objectives:
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perception_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/perception"
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visualization_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/visualization"
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sim_objectives:
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package_name: "factory_sim"
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relative_path: "objectives"

‎src/grinding_sim/config/config.yaml‎

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perception_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/perception"
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visualization_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/visualization"
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sim_objectives:
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package_name: "grinding_sim"
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relative_path: "objectives"

‎src/lab_sim/objectives/move_along_square.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Move Along Square">
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<!-- ////////// -->
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<!--//////////-->
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<BehaviorTree ID="Move Along Square" _description="Move along a square path">
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<Control ID="Sequence">
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<Action
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ID="InitializeMTCTask"
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controller_names="joint_trajectory_controller"
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task="{mtc_task}"
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task_id="move_along_axis"
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timeout="-1.000000"
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trajectory_monitoring="false"
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/>
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<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
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<Action
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ID="SetupMTCMoveAlongFrameAxis"
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acceleration_scale="1.0"
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axis_frame="world"
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axis_y="0.0"
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axis_z="1.0"
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axis_y="1.0"
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axis_z="0.0"
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hand_frame="tool0"
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ignore_environment_collisions="false"
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max_distance="0.2"
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ID="SetupMTCMoveAlongFrameAxis"
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acceleration_scale="1.0"
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axis_frame="world"
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axis_y="0.0"
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axis_z="-1.0"
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axis_y="-1.0"
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axis_z="0.0"
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hand_frame="tool0"
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ignore_environment_collisions="false"
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max_distance="0.2"

‎src/lab_sim/objectives/octomap_example.xml‎

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pcd_topic="/pcd_pointcloud_captures"
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point_cloud="{point_cloud}"
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/>
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<Action
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ID="LogMessage"
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log_level="info"
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message="Click Resume to reset the octomap and finish the Behavior"
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/>
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<!--Clear the Octomap at the end to avoid interfering with other Behaviors-->
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<Action
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ID="BreakpointSubscriber"
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breakpoint_topic="/moveit_pro_breakpoint"
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/>
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<SubTree ID="Clear Snapshot" _collapsed="true" />
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</Control>
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</BehaviorTree>
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<TreeNodesModel>

‎src/lab_sim/objectives/record_square_trajectory.xml‎

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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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velocity_scale_factor="1.0"
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waypoint_name="Flask 3a - Pre Pick"
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waypoint_name="Look at Base"
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seed="0"
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/>
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<Action
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ID="CallTriggerService"
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service_name="/start_recording_joint_trajectory"
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response_timeout="3.000000"
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wait_for_server_available_timeout="3.000000"
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/>
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<SubTree ID="Move Along Square" _collapsed="true" />
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<Action
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ID="CallTriggerService"
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service_name="/stop_recording_joint_trajectory"
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response_timeout="3.000000"
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wait_for_server_available_timeout="3.000000"
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/>
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<Action
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ID="SaveJointTrajectoryToYaml"
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message="{joint_trajectory_msg}"
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yaml_filename="~/user_ws/src/lab_sim/objectives/square_traj"
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overwrite="true"
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/>
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</Control>
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</Control>

‎src/lab_sim/test/objectives_integration_test.py‎

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"Inspector",
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"Pick 1 Pill Bottle",
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"AddBottlesToPlanningScene",
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"Interactive Marker Visualization", # Server not available for GetTextFromUser
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"Octomap Example", # Requires user input to clear the octomap.
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}
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‎src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml‎

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perception_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/perception"
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visualization_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/visualization"
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custom_objectives:
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package_name: "dual_arm_sim"
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relative_path: "objectives"

‎src/moveit_pro_franka_configs/kitchen_sim/config/config.yaml‎

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perception_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/perception"
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visualization_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/visualization"
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sim_objectives:
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package_name: "kitchen_sim"
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relative_path: "objectives"

‎src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml‎

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perception_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/perception"
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mujoco_objectives:
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visualization_objectives:
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package_name: "moveit_pro_objectives"
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relative_path: "objectives/mujoco"
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relative_path: "objectives/visualization"
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sim_objectives:
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package_name: "kinova_sim"
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relative_path: "objectives"

‎src/moveit_pro_kinova_configs/kinova_sim/objectives/reset_simulation.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Reset Simulation">
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<!--//////////-->
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<BehaviorTree
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ID="Reset Simulation"
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_description="Reset the MuJoCo simulation to the `default` keyframe (if specified in the mujoco model)."
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<Action
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ID="SwitchController"
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activate_asap="true"
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automatic_deactivation="true"
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controller_list_action_name="/controller_manager/list_controllers"
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controller_switch_action_name="/controller_manager/switch_controller"
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strictness="1"
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timeout="-1.000000"
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deactivate_controllers="joint_trajectory_controller;servo_controller;velocity_force_controller;joint_trajectory_admittance_controller"
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/>
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<Action
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ID="ResetMujocoKeyframe"
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response_timeout="10.000000"
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wait_for_server_available_timeout="3.000000"
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keyframe_name="default"
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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="Reset Simulation">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="MuJoCo Simulation" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

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