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switch SetupMTCConnectWithTrajectory -> SetupMTCConnectWithProRRT #412

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Merged
marioprats merged 4 commits into from
Sep 19, 2025
Merged

switch SetupMTCConnectWithTrajectory -> SetupMTCConnectWithProRRT #412

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13628a5
switch SetupMTCConnectWithTrajectory -> SetupMTCConnectWithProRRT
marioprats Sep 11, 2025
09aa77d
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 12, 2025
50a7da1
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 19, 2025
a584e20
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 19, 2025
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17 changes: 13 additions & 4 deletions src/factory_sim/objectives/plan_and_execute_with_orientation_samples.xml
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Expand Up @@ -70,14 +70,22 @@
controller_names="{controller_names}"
task="{mtc_task}"
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action
ID="SetupMTCConnectWithTrajectory"
constraints="{constraints}"
planner_interface="pro_rrt"
planning_group_name="{joint_group_name}"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{mtc_task}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCBatchPoseIK"
Expand Down Expand Up @@ -152,6 +160,7 @@
keep_orientation_tolerance="0.05"
link_padding="0.01"
velocity_scale_factor="1.0"
seed="0"
/>
</Control>
</Decorator>
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13 changes: 12 additions & 1 deletion src/factory_sim/objectives/plan_and_execute_with_world_vertical_orientation.xml
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Expand Up @@ -6,13 +6,23 @@
_description="Free space plan to an approach pose then free space plan to a target pose with optional orientation constraints. With orientation constraints the gripper will maintain its orientation relative to the world vertical axis when moving from the approach to target pose."
>
<Control ID="Sequence" name="Plan to approach then target">
<Action ID="SwitchController" activate_controllers="{controller_names}" />
<Action
ID="SwitchController"
activate_controllers="{controller_names}"
activate_asap="true"
automatic_deactivation="true"
controller_list_action_name="/controller_manager/list_controllers"
controller_switch_action_name="/controller_manager/switch_controller"
strictness="1"
timeout="-1.000000"
/>
<Action
ID="InitializeMTCTask"
controller_names="{controller_names}"
task="{mtc_task}"
task_id="move_to_pose"
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action
Expand Down Expand Up @@ -94,6 +104,7 @@
keep_orientation_tolerance="0.05"
link_padding="0.01"
velocity_scale_factor="1.0"
seed="0"
/>
</Control>
</Decorator>
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13 changes: 10 additions & 3 deletions src/factory_sim/objectives/plan_path_along_surface.xml
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Expand Up @@ -121,11 +121,18 @@
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action
ID="SetupMTCConnectWithTrajectory"
planner_interface="pro_rrt"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{mtc_task}"
constraints="{constraints}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCBatchPoseIK"
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1 change: 1 addition & 0 deletions src/factory_sim/objectives/reachability_analysis_-_blocks.xml
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@@ -1,3 +1,4 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Reachability Analysis - blocks">
<!--//////////-->
<BehaviorTree
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14 changes: 11 additions & 3 deletions src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
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Expand Up @@ -215,6 +215,7 @@
task="{task}"
task_id=""
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{task}" />
<Action
Expand All @@ -225,11 +226,18 @@
task="{task}"
/>
<Action
ID="SetupMTCConnectWithTrajectory"
constraints="{constraints}"
planner_interface="pro_rrt"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{task}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCMoveAlongFrameAxis"
Expand Down
68 changes: 68 additions & 0 deletions src/lab_sim/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -13,11 +13,19 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="MoveGripperAction"
gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
position="0"
timeout="10.000000"
/>
<!--Run pick and place on loop-->
<Decorator ID="KeepRunningUntilFailure">
Expand All @@ -29,34 +37,64 @@
waypoint_name="Pick Cube"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="MoveGripperAction"
gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
position="0.7929"
timeout="10.000000"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<SubTree
ID="Move to Waypoint"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
waypoint_name="Place Cube"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="MoveGripperAction"
gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
position="0"
timeout="10.000000"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
</Control>
<!--Pick object from where it was placed, put it down on the original location, and go back to center pose-->
Expand All @@ -66,34 +104,64 @@
waypoint_name="Place Cube"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="MoveGripperAction"
gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
position="0.7929"
timeout="10.000000"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Pick Cube"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="MoveGripperAction"
gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
position="0"
timeout="10.000000"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
</Control>
</Control>
Expand Down
15 changes: 12 additions & 3 deletions src/lab_sim/objectives/grasp_planning.xml
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Expand Up @@ -62,14 +62,22 @@
controller_names="joint_trajectory_controller;robotiq_gripper_controller"
task="{pick_object_task}"
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
<Action
ID="SetupMTCConnectWithTrajectory"
constraints="{constraints}"
planner_interface="pro_rrt"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{pick_object_task}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCBatchPoseIK"
Expand All @@ -90,6 +98,7 @@
<SubTree
ID="Wait for Trajectory Approval if User Available"
solution="{pick_object_solution}"
cartesian_path_links="grasp_link"
/>
<Action
ID="ExecuteMTCTask"
Expand Down
14 changes: 11 additions & 3 deletions src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml
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Expand Up @@ -74,14 +74,22 @@
controller_names="joint_trajectory_controller;robotiq_gripper_controller"
task="{mtc_task}"
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action
ID="SetupMTCConnectWithTrajectory"
planner_interface="pro_rrt"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{mtc_task}"
constraints="{constraints}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCBatchPoseIK"
Expand Down
4 changes: 4 additions & 0 deletions src/lab_sim/objectives/pick_and_place_example.xml
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Expand Up @@ -21,11 +21,15 @@
ID="Pick from Pose"
_collapsed="true"
grasp_pose="{pick_place_pose}"
approach_distance="0.1"
retract_xyz="0;0;-0.1"
/>
<SubTree
ID="Place at Pose"
_collapsed="true"
place_pose="{pick_place_pose}"
approach_distance="0.1"
retract_xyz="0;0;-0.1"
/>
</Control>
</Control>
Expand Down
15 changes: 12 additions & 3 deletions src/lab_sim/objectives/pick_from_pose.xml
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Expand Up @@ -13,14 +13,22 @@
task="{mtc_task}"
task_id="pick_object"
trajectory_monitoring="false"
timeout="-1.000000"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action
ID="SetupMTCConnectWithTrajectory"
planner_interface="pro_rrt"
ID="SetupMTCConnectWithProRRT"
acceleration_scale_factor="1.000000"
keep_orientation="false"
keep_orientation_link_names="grasp_link"
keep_orientation_tolerance="0.100000"
link_padding="0.000000"
max_iterations="5000"
planning_group_name="manipulator"
seed="0"
task="{mtc_task}"
constraints="{constraints}"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
/>
<Action
ID="SetupMTCMoveAlongFrameAxis"
Expand Down Expand Up @@ -95,6 +103,7 @@
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
/>
</Control>
</BehaviorTree>
Expand Down
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