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davetcolemandavetcoleman
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Change favorites and Objective names
1 parent 74f86ab commit faf6db5

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+47
-36
lines changed

‎src/lab_sim/objectives/_scan_scene.xml‎

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joint_group_name="manipulator"
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controller_names="joint_trajectory_controller"
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waypoint_name="Park Far Right"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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seed="0"
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velocity_scale_factor="1.0"
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/>
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<SubTree ID="Take Scene Camera Snapshot" _collapsed="true" />
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<SubTree
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joint_group_name="manipulator"
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controller_names="joint_trajectory_controller"
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waypoint_name="Look at Table"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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seed="0"
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velocity_scale_factor="1.0"
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/>
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</Control>
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</BehaviorTree>

‎src/lab_sim/objectives/close_gripper.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
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<BehaviorTree
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ID="Close Gripper"
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_description="Close the gripper"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="root">
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<Action

‎src/lab_sim/objectives/grasp_pose_using_yaml.xml‎

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<BehaviorTree
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ID="Grasp Pose Using Yaml"
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_description="Reads a YAML file for grasp pose offset and picks up an object that has an AprilTag marker."
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree ID="Open Gripper" />

‎src/lab_sim/objectives/joint_diagnostic.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
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<!--//////////-->
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<BehaviorTree
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ID="Joint Diagnostic"
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_description="Example of cycling through the min and max limits of a single joint, for hardware testing"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<!--Setup by moving home-->

‎src/lab_sim/objectives/load_and_execute_joint_trajectory.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Load and Execute Joint Trajectory">
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<!--//////////-->
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<BehaviorTree
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ID="Load and Execute Joint Trajectory"
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_description="Load a trajectory that was saved as a YAML file"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<!--Make sure to move the robot to the same starting position as the saved trajectory starts, otherwise the joint_trajectory_controller will use joint interpolation to align the robot with the path-->

src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml renamed to src/lab_sim/objectives/ml_segment_image.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Image from Text Prompt">
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Image">
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<!--//////////-->
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<BehaviorTree
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ID="ML Segment Image from Text Prompt"
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_description="Run an ML model to find all objects and visualize the masks with bounding boxes."
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ID="ML Segment Image"
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_description="Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt."
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_favorite="true"
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>
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<Control ID="Sequence">
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="ML Segment Image from Text Prompt">
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<SubTree ID="ML Segment Image">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml renamed to src/lab_sim/objectives/ml_segment_point_cloud.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root
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BTCPP_format="4"
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main_tree_to_execute="ML Segment Point Cloud from Text Prompt"
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>
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Point Cloud">
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<!--//////////-->
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<BehaviorTree
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ID="ML Segment Point Cloud from Text Prompt"
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_description="Captures a point cloud and segments out all possible objects."
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ID="ML Segment Point Cloud"
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_description="Captures a point cloud and segments out all possible objects from a text prompt"
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_favorite="true"
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>
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<Control ID="Sequence">
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="ML Segment Point Cloud from Text Prompt">
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<SubTree ID="ML Segment Point Cloud">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

‎src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml‎

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<BehaviorTree
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ID="ML Segment Point Cloud from Clicked Point"
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_description="Captures a point cloud and requests the user to click on three objects in the image to be segmented. The point cloud is then filtered to only include the selected objects."
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence">
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<SubTree

src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml renamed to src/lab_sim/objectives/pick_1_pill_bottle.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="ML Grasp Object from Text Prompt">
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<root BTCPP_format="4" main_tree_to_execute="Pick 1 Pill Bottle">
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<!--//////////-->
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<BehaviorTree
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ID="ML Grasp Object from Text Prompt"
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ID="Pick 1 Pill Bottle"
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_description="Captures and segments objects from a point cloud based on a text prompt. Then grasps the first object returned from the segmentation."
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_favorite="true"
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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="ML Grasp Object from Text Prompt">
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<SubTree ID="Pick 1 Pill Bottle">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

src/lab_sim/objectives/ml_auto_grasp_object_from_text_prompt.xml renamed to src/lab_sim/objectives/pick_all_pill_bottles.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root
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BTCPP_format="4"
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main_tree_to_execute="ML Auto Grasp Object from Text Prompt"
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>
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<root BTCPP_format="4" main_tree_to_execute="Pick All Pill Bottles">
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<!--//////////-->
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<BehaviorTree
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ID="ML Auto Grasp Object from Text Prompt"
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_description="Uses ML models to identify and grasp plan to pick up objects."
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ID="Pick All Pill Bottles"
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_description="Uses ML models to repeatedly identify and grasp plan to pick up objects."
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_favorite="true"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="ML Auto Grasp Object from Text Prompt">
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<SubTree ID="Pick All Pill Bottles">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

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