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Updating objectives #15

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Merged
MikeWrock merged 4 commits into from
Nov 21, 2024
Merged

Updating objectives #15

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dd4d494
Updating objectives
MikeWrock Nov 20, 2024
c6ac354
Removes visualization pane changes in teleoperation
MikeWrock Nov 21, 2024
d275f6f
removed erroneous objective
MikeWrock Nov 21, 2024
4591c5a
added descriptions
MikeWrock Nov 21, 2024
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20 changes: 0 additions & 20 deletions src/fanuc_sim/objectives/request_teleoperation.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,6 @@
<!--Joint sliders interpolate to joint state-->
<Decorator ID="ForceSuccess" _while="teleop_mode == 5">
<Control ID="Sequence">
<Action
ID="SwitchUIPrimaryView"
primary_view_name="Visualization"
/>
<Control ID="Fallback" name="root">
<Control ID="Sequence">
<Action
Expand Down Expand Up @@ -67,10 +63,6 @@
<!--Interactive markers move to pose-->
<Decorator ID="ForceSuccess" _while="teleop_mode == 4">
<Control ID="Sequence">
<Action
ID="SwitchUIPrimaryView"
primary_view_name="Visualization"
/>
<Control ID="Fallback" name="root">
<Control ID="Sequence">
<Action
Expand Down Expand Up @@ -105,10 +97,6 @@
<!--Waypoint buttons move to joint state-->
<Decorator ID="ForceSuccess" _while="teleop_mode == 3">
<Control ID="Sequence">
<Action
ID="SwitchUIPrimaryView"
primary_view_name="Visualization"
/>
<Control ID="Fallback" name="root">
<Control ID="Sequence">
<Action
Expand Down Expand Up @@ -142,20 +130,12 @@
</Decorator>
<!--Cartesian and joint jogging-->
<Control ID="Sequence" _while="teleop_mode == 2">
<Action
ID="SwitchUIPrimaryView"
primary_view_name="Visualization"
/>
<Action
ID="TeleoperateTwist"
controller_name="servo_controller"
/>
</Control>
<Control ID="Sequence" _while="teleop_mode == 1">
<Action
ID="SwitchUIPrimaryView"
primary_view_name="Visualization"
/>
<Action
ID="TeleoperateJointJog"
controller_name="servo_controller"
Expand Down
7 changes: 5 additions & 2 deletions src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
<?xml version="1.0" encoding="utf-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
<!--//////////-->
<BehaviorTree ID="Add Waypoints to MTC Task">
<BehaviorTree
ID="Add Waypoints to MTC Task"
_subtreeOnly="true"
_description=""
>
<Control ID="Sequence">
<Action
ID="RetrieveWaypoint"
Expand Down
7 changes: 6 additions & 1 deletion src/lab_sim/objectives/create_pose_vector.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,11 @@
<root BTCPP_format="4" main_tree_to_execute="Create Pose Vector">
<!--//////////-->
<BehaviorTree ID="Create Pose Vector" _favorite="false">
<BehaviorTree
ID="Create Pose Vector"
_favorite="false"
_subtreeOnly="true"
_description=""
>
<Control ID="Sequence">
<Action
ID="CreateStampedPose"
Expand Down
6 changes: 5 additions & 1 deletion src/lab_sim/objectives/get_april_tag_pose_from_image.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,10 @@
<root BTCPP_format="4" main_tree_to_execute="Get AprilTag Pose from Image">
<!-- ////////// -->
<BehaviorTree ID="Get AprilTag Pose from Image">
<BehaviorTree
ID="Get AprilTag Pose from Image"
_subtreeOnly="true"
_description=""
>
<Control ID="Sequence">
<!--Get tag pose estimate in world frame-->
<Action
Expand Down
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