Skip to content

Commit f770dd6

Browse files
henrygerardmoorehenrygerardmoore
committed
undo extraneous changes
1 parent 503a430 commit f770dd6

File tree

5 files changed

+37
-79
lines changed

5 files changed

+37
-79
lines changed

‎src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml‎

Lines changed: 0 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -10,12 +10,6 @@
1010
<Action
1111
ID="SwitchController"
1212
activate_controllers="joint_trajectory_controller"
13-
activate_asap="true"
14-
automatic_deactivation="true"
15-
controller_list_action_name="/controller_manager/list_controllers"
16-
controller_switch_action_name="/controller_manager/switch_controller"
17-
strictness="1"
18-
timeout="-1.000000"
1913
/>
2014
<Action
2115
ID="LoadPoseStampedVectorFromYaml"
@@ -64,9 +58,6 @@
6458
ID="VisualizePath"
6559
marker_lifetime="0.000000"
6660
path="{pose_stamped_msgs}"
67-
marker_name="path"
68-
pose_marker_size="0.100000"
69-
show_poses="false"
7061
/>
7162
<Action
7263
ID="ExecuteFollowJointTrajectory"
@@ -75,7 +66,6 @@
7566
goal_position_tolerance="0.000000"
7667
goal_time_tolerance="0.000000"
7768
joint_trajectory_msg="{joint_trajectory_msg}"
78-
trajectory_remainder="{joint_trajectory_remainder}"
7969
/>
8070
</Control>
8171
</Control>

‎src/hangar_sim/objectives/ml_move_boxes_to_loading_zone.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<SubTree
2222
ID="Move Boxes to Loading Zone Start from Waypoint"
2323
waypoint_name="View Boxes"
24-
_collapsed="false"
24+
_collapsed="true"
2525
threshold="0.25"
2626
prompt="a small brown box"
2727
negative_prompts="yellow ladder;"

‎src/hangar_sim/objectives/navigate_to_clicked_point.xml‎

Lines changed: 19 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,6 @@
1616
ID="SwitchController"
1717
activate_controllers="platform_velocity_controller_nav2"
1818
deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller;servo_controller"
19-
activate_asap="true"
20-
automatic_deactivation="true"
21-
controller_list_action_name="/controller_manager/list_controllers"
22-
controller_switch_action_name="/controller_manager/switch_controller"
23-
strictness="1"
24-
timeout="-1.000000"
2519
/>
2620
<Action
2721
ID="GetPoseFromUser"
@@ -31,47 +25,28 @@
3125
view_name="Visualization"
3226
/>
3327
<Action
34-
ID="AddPoseStampedToVector"
35-
input="{goal}"
36-
vector="{pose_stamped_vector}"
28+
ID="ComputePathToPoseAction"
29+
action_name="/compute_path_to_pose"
30+
goal="{goal}"
31+
ignore_stamp_time="true"
32+
path="{path}"
33+
planning_time="{planning_time}"
34+
start="{start}"
35+
timeout_sec="-1.000000"
36+
use_start="false"
37+
planner_id="GridBased"
3738
/>
39+
<Action ID="WaitForUserPathApproval" path="{path}" />
3840
<Action
39-
ID="AdjustPoseWithIMarker"
40-
adjusted_poses="{final_poses}"
41-
initial_poses="{pose_stamped_vector}"
41+
ID="FollowPathAction"
42+
action_name="/follow_path"
43+
controller_id="FollowPath"
44+
distance_to_goal="{distance_to_goal}"
45+
goal_checker_id="general_goal_checker"
46+
path="{path}"
47+
speed="{speed}"
48+
timeout_sec="-1.000000"
4249
/>
43-
<Decorator
44-
ID="ForEach"
45-
index="{index}"
46-
out="{out}"
47-
vector_in="{final_poses}"
48-
>
49-
<Control ID="Sequence">
50-
<Action
51-
ID="ComputePathToPoseAction"
52-
action_name="/compute_path_to_pose"
53-
goal="{out}"
54-
ignore_stamp_time="true"
55-
path="{path}"
56-
planning_time="{planning_time}"
57-
start="{start}"
58-
timeout_sec="-1.000000"
59-
use_start="false"
60-
planner_id="GridBased"
61-
/>
62-
<Action ID="WaitForUserPathApproval" path="{path}" />
63-
<Action
64-
ID="FollowPathAction"
65-
action_name="/follow_path"
66-
controller_id="FollowPath"
67-
distance_to_goal="{distance_to_goal}"
68-
goal_checker_id="general_goal_checker"
69-
path="{path}"
70-
speed="{speed}"
71-
timeout_sec="-1.000000"
72-
/>
73-
</Control>
74-
</Decorator>
7550
</Control>
7651
</BehaviorTree>
7752
<TreeNodesModel>

‎src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_point_subtree.xml‎

Lines changed: 10 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
<?xml version="1.0" encoding="UTF-8" ?>
1+
<?xml version="1.0" encoding="utf-8" ?>
22
<root BTCPP_format="4" main_tree_to_execute="Segment Image from Point Subtree">
33
<!--//////////-->
44
<BehaviorTree
@@ -19,7 +19,6 @@
1919
topic_name="{image_topic_name}"
2020
timeout_sec="5.000000"
2121
message_out="{image}"
22-
publisher_timeout_sec="5.000000"
2322
/>
2423
<Action
2524
ID="GetPointsFromUser"
@@ -42,30 +41,26 @@
4241
image="{image}"
4342
masks="{masks2d}"
4443
masks_visualization_topic="{masks_visualization_topic}"
45-
opacity="0.500000"
4644
/>
4745
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
4846
</Control>
4947
</BehaviorTree>
5048
<TreeNodesModel>
5149
<SubTree ID="Segment Image from Point Subtree">
52-
<MetadataFields>
53-
<Metadata runnable="false" />
54-
<Metadata subcategory="Perception - ML" />
55-
</MetadataFields>
56-
<input_port name="decoder_model_path" default="models/decoder.onnx" />
57-
<input_port
58-
name="encoder_model_path"
59-
default="models/sam2_hiera_large_encoder.onnx"
60-
/>
61-
<input_port name="image_topic_name" default="/wrist_camera/color" />
50+
<input_port name="decoder_model_path" default="{decoder_model_path}" />
51+
<input_port name="encoder_model_path" default="{encoder_model_path}" />
52+
<input_port name="image_topic_name" default="{image_topic_name}" />
6253
<input_port
6354
name="masks_visualization_topic"
64-
default="/masks_visualization"
55+
default="{masks_visualization_topic}"
6556
/>
6657
<output_port name="masks2d" default="{masks2d}" />
67-
<input_port name="model_package" default="lab_sim" />
58+
<input_port name="model_package" default="{model_package}" />
6859
<output_port name="pixel_coords" default="{pixel_coords}" />
60+
<MetadataFields>
61+
<Metadata runnable="false" />
62+
<Metadata subcategory="Perception - ML" />
63+
</MetadataFields>
6964
</SubTree>
7065
</TreeNodesModel>
7166
</root>

‎src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/segment_image_from_text_prompt_subtree.xml‎

Lines changed: 7 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
<?xml version="1.0" encoding="UTF-8" ?>
1+
<?xml version="1.0" encoding="utf-8" ?>
22
<root
33
BTCPP_format="4"
44
main_tree_to_execute="Segment Image from Text Prompt Subtree"
@@ -15,7 +15,6 @@
1515
timeout_sec="5.000000"
1616
topic_name="{image_topic_name}"
1717
message_out="{image}"
18-
publisher_timeout_sec="5.000000"
1918
/>
2019
<Action
2120
ID="GetMasks2DFromTextQuery"
@@ -34,29 +33,28 @@
3433
image="{image}"
3534
masks="{masks2d}"
3635
masks_visualization_topic="{masks_visualization_topic}"
37-
opacity="0.500000"
3836
/>
3937
</Control>
4038
</BehaviorTree>
4139
<TreeNodesModel>
4240
<SubTree ID="Segment Image from Text Prompt Subtree">
43-
<MetadataFields>
44-
<Metadata runnable="false" />
45-
<Metadata subcategory="Perception - ML" />
46-
</MetadataFields>
4741
<input_port name="clip_model_path" default="{clip_model_path}" />
4842
<input_port name="clipseg_model_path" default="{clipseg_model_path}" />
4943
<input_port name="erosion_size" default="{erosion_size}" />
50-
<input_port name="image_topic_name" default="{image_topic_name}" />
5144
<input_port
5245
name="masks_visualization_topic"
5346
default="{masks_visualization_topic}"
5447
/>
55-
<output_port name="masks2d" default="{masks2d}" />
5648
<input_port name="model_package" default="{model_package}" />
5749
<input_port name="negative_prompts" default="{negative_prompts}" />
5850
<input_port name="prompts" default="{prompts}" />
5951
<input_port name="threshold" default="{threshold}" />
52+
<input_port name="image_topic_name" default="{image_topic_name}" />
53+
<output_port name="masks2d" default="{masks2d}" />
54+
<MetadataFields>
55+
<Metadata runnable="false" />
56+
<Metadata subcategory="Perception - ML" />
57+
</MetadataFields>
6058
</SubTree>
6159
</TreeNodesModel>
6260
</root>

0 commit comments

Comments
 (0)