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Merged
griswaldbrooks merged 7 commits into from
Dec 16, 2024
Merged

Bring it add objectives #59

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9dbb31e
Move beer bottles closer to edge of bar
mkhansenbot Dec 13, 2024
6fb76b2
Add Look at Table waypoint
mkhansenbot Dec 13, 2024
cda97ba
Remove bar and beers from parameters list
mkhansenbot Dec 13, 2024
9daa850
Remove bar from xacro file
mkhansenbot Dec 13, 2024
8bc017d
Reduce inflation_radius so robot can get close to bar
mkhansenbot Dec 13, 2024
803f0c1
Add objectives to pick beer
mkhansenbot Dec 13, 2024
cef1eae
Fix YAML lint errors
mkhansenbot Dec 16, 2024
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4 changes: 2 additions & 2 deletions src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@
friction="0.8 0.2"
/>
</body>
<body name="beer_bottle_3" pos="0 2 0.9">
<body name="beer_bottle_3" pos="0 1.5 0.9">
<freejoint />
<site name="beer_bottle_3" />
<geom
Expand All @@ -77,7 +77,7 @@
friction="0.8 0.2"
/>
</body>
<body name="beer_bottle_4" pos="0.5 2 0.9">
<body name="beer_bottle_4" pos="0.5 1.5 0.9">
<freejoint />
<site name="beer_bottle_4" />
<geom
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2 changes: 1 addition & 1 deletion src/moveit_pro_ur_configs/bring_it_sim/description/picknik_ur_mujoco_ros2_control.xacro
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Expand Up @@ -88,7 +88,7 @@
<param name="render_publish_rate">60</param>
<param name="tf_publish_rate">60</param>
<param name="lidar_publish_rate">10</param>
<param name="ignore_joint_validation">linear_x_joint linear_y_joint rotational_yaw_joint world_bar world_beer_bottle_1 world_beer_bottle_2 world_beer_bottle_3 world_beer_bottle_4 world_beer_bottle_5 world_table_1 world_table_2 world_table_3 world_table_4</param>
<param name="ignore_joint_validation">linear_x_joint linear_y_joint rotational_yaw_joint</param>
<param name="publish_odom">true</param>
<param name="odom_child_frame">ridgeback_base_link</param>
<param name="odom_zero_z">true</param>
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1 change: 0 additions & 1 deletion src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro
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Expand Up @@ -24,7 +24,6 @@
<xacro:include filename="$(find bring_it_sim)/description/picknik_ur_attachments_macro.xacro"/>
<xacro:include filename="$(find bring_it_sim)/description/picknik_ur_mujoco_ros2_control.xacro"/>
<xacro:include filename="$(find ridgeback_description)/urdf/ridgeback.urdf.xacro"/>
<xacro:include filename="$(find bring_it_sim)/description/bar.xacro"/>

<link name="world"/>

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33 changes: 33 additions & 0 deletions src/moveit_pro_ur_configs/bring_it_sim/objectives/move_close_to_bar.xml
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@@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Move close to bar">
<!--//////////-->
<BehaviorTree
ID="Move close to bar"
_description="Move close enough to the bar to pick up a beer"
_favorite="true"
>
<Control ID="Sequence">
<Action
ID="CreateStampedPose"
orientation_xyzw="0;0;0;1"
position_xyz="0;1;0"
stamped_pose="{home_location}"
reference_frame="world"
/>
<Action
ID="VisualizeMesh"
mesh_path="package://bring_it_sim/description/assets/locationmarker.dae"
mesh_pose="{home_location}"
/>
<Action
ID="NavigateToPoseAction"
pose_stamped="{home_location}"
behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
action_name="/navigate_to_pose"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Move close to bar" />
</TreeNodesModel>
</root>
39 changes: 39 additions & 0 deletions src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_beer.xml
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@@ -0,0 +1,39 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Pick beer">
<!--//////////-->
<BehaviorTree
ID="Pick beer"
_description=""
_favorite="false"
_subtreeOnly="true"
name=""
>
<Control ID="Sequence" name="root">
<SubTree ID="Open Gripper" />
<Control ID="Sequence">
<Action
ID="CreateStampedPose"
orientation_xyzw="1;0;0;0"
position_xyz="0;0;0.22"
reference_frame="{beer_frame}"
/>
<Action ID="VisualizePose" />
<Action
ID="AddPoseStampedToVector"
input="{stamped_pose}"
vector="{pose_vector}"
/>
</Control>
<SubTree
ID="Pick first object in vector"
pose_vector="{pose_vector}"
_collapsed="false"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Pick beer">
<input_port name="beer_frame" default="{frame_id}" />
</SubTree>
</TreeNodesModel>
</root>
16 changes: 16 additions & 0 deletions src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_up_beer.xml
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@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Pick up Beer">
<!--//////////-->
<BehaviorTree ID="Pick up Beer" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<SubTree ID="Clear Snapshot" _collapsed="true" />
<SubTree ID="Look at table" _collapsed="true" />
<!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
<SubTree ID="Take scene camera snapshot" _collapsed="true" />
<SubTree ID="Pick beer" _collapsed="true" beer_frame="{frame_id}" />
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Pick up Beer" />
</TreeNodesModel>
</root>
4 changes: 2 additions & 2 deletions src/moveit_pro_ur_configs/bring_it_sim/params/nav2_params.yaml
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Expand Up @@ -199,7 +199,7 @@ local_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.20
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
Expand Down Expand Up @@ -264,7 +264,7 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.20
always_send_full_costmap: True

map_server:
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98 changes: 83 additions & 15 deletions src/moveit_pro_ur_configs/bring_it_sim/waypoints/ur_waypoints.yaml
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@@ -1,48 +1,69 @@
- description: ''
- description: ""
favorite: true
joint_group_names:
- gripper
- linear_actuator
- manipulator
- wheel_actuator
joint_state:
effort: []
header:
frame_id: ''
frame_id: ""
stamp:
nanosec: 0
sec: 0
name:
- robotiq_85_left_knuckle_joint
- linear_x_joint
- linear_y_joint
- rotational_yaw_joint
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- wrist_1_joint
- shoulder_lift_joint
- front_rocker
- front_left_wheel
- front_right_wheel
- rear_left_wheel
- rear_right_wheel
position:
- -8.704708810562631e-06
- 1.4068654234675446
- 1.56799762591031
- 8.888612690481538e-10
- 0.782482319413393
- -1.2156111214535257
- 0.1025781249307494
- 0
- 0
- 0
- 0.8371631576820436
- -0.3352390746492166
- 0.19765088507041076
- -2.3182411494283217
- -1.4856134479671956
- -0.059141607883296456
- 6.680871677833013e-05
- -5.2400322737957
- 5.2356089836249575
- -5.238369713479739
- 5.233722234090497
velocity: []
multi_dof_joint_state:
header:
frame_id: ''
frame_id: ""
stamp:
nanosec: 0
sec: 0
joint_names: []
transforms: []
twist: []
wrench: []
name: Look at Table
- description: ''
name: Near bottle 3
- description: ""
favorite: true
joint_group_names:
- manipulator
joint_state:
effort: []
header:
frame_id: ''
frame_id: ""
stamp:
nanosec: 0
sec: 0
Expand All @@ -63,7 +84,7 @@
velocity: []
multi_dof_joint_state:
header:
frame_id: ''
frame_id: ""
stamp:
nanosec: 0
sec: 0
Expand All @@ -72,3 +93,50 @@
twist: []
wrench: []
name: Stowed
- description: ""
favorite: true
joint_group_names:
- gripper
- linear_actuator
- manipulator
joint_state:
effort: []
header:
frame_id: ""
stamp:
nanosec: 0
sec: 0
name:
- robotiq_85_left_knuckle_joint
- linear_x_joint
- linear_y_joint
- rotational_yaw_joint
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
position:
- 0
- 0.4
- 0.4
- 1
- 0
- -1.5708
- 0.785398
- -1.2948195437205516
- -1.5708
- 0
velocity: []
multi_dof_joint_state:
header:
frame_id: ""
stamp:
nanosec: 0
sec: 0
joint_names: []
transforms: []
twist: []
wrench: []
name: Look at Table
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