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Merged
MikeWrock merged 1 commit into from
Nov 15, 2024
Merged

Updating xacro and favourites #7

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53 changes: 7 additions & 46 deletions src/lab_sim/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,9 @@
<material name="plastic">
<color rgba="0.1 0.1 0.1 1" />
</material>
<material name="offwhite">
<color rgba="0.01 0.01 0.01 1" />
</material>
<link name="world" />
<joint name="tool_changer_joint" type="fixed">
<!-- The parent link must be read from the robot model it is attached to. -->
Expand Down Expand Up @@ -1174,57 +1177,15 @@
<!-- Table -->
<link name="table">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.025" />
<geometry>
<mesh
filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
scale="0.125 0.125 0.00625"
/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.4 0.4 -0.2" />
<geometry>
<box size="0.04 0.04 0.45" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.4 -0.4 -0.2" />
<geometry>
<box size="0.04 0.04 0.45" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.4 -0.4 -0.2" />
<origin rpy="0 0 0" xyz="0 0 -0.45" />
<geometry>
<box size="0.04 0.04 0.45" />
<box size="3.5 1 0.9" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.4 0.4 -0.2" />
<geometry>
<box size="0.04 0.04 0.45" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<origin rpy="0 0 0" xyz="0 0 -0.45" />
<geometry>
<mesh
filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae"
scale="0.125 0.125 0.00625"
/>
<box size="3.5 1 0.9" />
</geometry>
</collision>
</link>
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/apriltag_pick_object.xml
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Expand Up @@ -3,7 +3,7 @@
<BehaviorTree
ID="Pick April Tag Labeled Object"
_description="Picks up an object that has an AprilTag marker."
_favorite="false"
_favorite="true"
>
<Control ID="Sequence" name="TopLevelSequence">
<SubTree ID="Look at table" _collapsed="true" />
Expand Down
10 changes: 7 additions & 3 deletions src/lab_sim/objectives/constrained_pick_place.xml
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Expand Up @@ -51,8 +51,10 @@
constraints="{constraints}"
/>
</Decorator>
<!--Pick-->
<SubTree ID="Close Gripper" />
<!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
<Decorator ID="ForceSuccess">
<SubTree ID="Close Gripper" />
</Decorator>
<!--Move to place (drop) location-->
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
<SubTree
Expand Down Expand Up @@ -110,7 +112,9 @@
waypoint_name="Place Cube"
/>
</Decorator>
<SubTree ID="Close Gripper" />
<Decorator ID="ForceSuccess">
<SubTree ID="Close Gripper" />
</Decorator>
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
<SubTree
ID="Move to Waypoint"
Expand Down
3 changes: 1 addition & 2 deletions src/lab_sim/objectives/create_pose_vector.xml
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@@ -1,7 +1,6 @@
<?xml version="1.0" encoding="utf-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Create Pose Vector">
<!--//////////-->
<BehaviorTree ID="Create Pose Vector">
<BehaviorTree ID="Create Pose Vector" _favorite="false">
<Control ID="Sequence">
<Action
ID="CreateStampedPose"
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
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Expand Up @@ -17,7 +17,7 @@
/>
<Action
ID="LoadJointTrajectoryFromYaml"
file_path="/home/michael/user_ws/src/lab_sim/objectives/joint_trajectory.yaml"
file_path="joint_trajectory.yaml"
/>
<Action ID="ExecuteFollowJointTrajectory" />
</Control>
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/look_at_table.xml
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@@ -1,6 +1,6 @@
<root BTCPP_format="4" main_tree_to_execute="Look at table">
<!--//////////-->
<BehaviorTree ID="Look at table" _description="" _favorite="false">
<BehaviorTree ID="Look at table" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<SubTree
ID="Move to Waypoint"
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/move_with_velocity_and_force.xml
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Expand Up @@ -3,7 +3,7 @@
<BehaviorTree
ID="Move until Force Contact"
_description="An example for how to use the VFC to move with a velocity / force reference until it collides"
_favorite="false"
_favorite="true"
>
<Control ID="Sequence" name="TopLevelSequence">
<SubTree
Expand Down
9 changes: 7 additions & 2 deletions src/lab_sim/objectives/place_object.xml
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@@ -1,6 +1,11 @@
<root BTCPP_format="4" main_tree_to_execute="Place object">
<root BTCPP_format="4" main_tree_to_execute="Place Object">
<!--//////////-->
<BehaviorTree ID="Place object" _description="" _favorite="false">
<BehaviorTree
ID="Place Object"
_description=""
_favorite="false"
_subtreeOnly="false"
>
<Control ID="Sequence" name="root">
<Control ID="Sequence">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />
Expand Down
29 changes: 0 additions & 29 deletions src/lab_sim/objectives/record_trajectory.xml
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This file was deleted.

2 changes: 1 addition & 1 deletion src/lab_sim/objectives/register_cad_part.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<root BTCPP_format="4" main_tree_to_execute="Register CAD Part">
<!--//////////-->
<BehaviorTree ID="Register CAD Part" _description="" _favorite="false">
<BehaviorTree ID="Register CAD Part" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<Action ID="ClearSnapshot" />
<SubTree ID="Look at table" _collapsed="true" />
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/take_snap.xml
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@@ -1,6 +1,6 @@
<root BTCPP_format="4" main_tree_to_execute="Scene camera snapshot">
<!--//////////-->
<BehaviorTree ID="Scene camera snapshot" _description="" _favorite="false">
<BehaviorTree ID="Scene camera snapshot" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<!-- Clear out old snapshot data -->
<Action ID="ClearSnapshot" />
Expand Down
2 changes: 1 addition & 1 deletion src/lab_sim/objectives/wrist_snap.xml
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@@ -1,6 +1,6 @@
<root BTCPP_format="4" main_tree_to_execute="Wrist camera snapshot">
<!--//////////-->
<BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="false">
<BehaviorTree ID="Wrist camera snapshot" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<!-- Do not clear snapshots first, so we can take multiple snapshots from different angles -->
<Action ID="GetPointCloud" topic_name="/wrist_camera/points" />
Expand Down
5 changes: 4 additions & 1 deletion src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/close_gripper.xml
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@@ -1,4 +1,4 @@
<?xml version="1.0" encoding="UTF-8" ?>
<?xml version="1.0" encoding="utf-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
<BehaviorTree ID="Close Gripper" _description="Close the gripper">
<Control ID="Sequence" name="root">
Expand All @@ -10,4 +10,7 @@
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Close Gripper" />
</TreeNodesModel>
</root>
2 changes: 1 addition & 1 deletion src/picknik_accessories
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Submodule picknik_accessories updated 1 files
+5 −1 mujoco_assets/lab_desk/desk_globals.xml