Update behavior names for Open Door objectives (#169)

PickNikRobotics · Jan 8, 2024 · 0ddbb3c · 0ddbb3c
1 parent e097515
commit 0ddbb3c
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Showing 6 changed files with 8 additions and 8 deletions.
diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance.xml
@@ -14,12 +14,12 @@
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_end" parameter_value="{hinge_axis_pose_end}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_start" parameter_value="{hinge_axis_pose_start}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.grasp_pose" parameter_value="{grasp_pose}" />
-            <Action ID="GetHingeAxisFromSurfaceSelection" grasp_pose="{grasp_pose}" hinge_axis_pose_end="{hinge_axis_pose_end}" hinge_axis_pose_start="{hinge_axis_pose_start}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" target_grasp_pose="{grasp_pose}" />
+            <Action ID="GetMoveAlongArcSubframes" grasp_pose="{grasp_pose}" hinge_axis_pose_end="{hinge_axis_pose_end}" hinge_axis_pose_start="{hinge_axis_pose_start}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" target_grasp_pose="{grasp_pose}" />
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0" />
             <Control ID="Sequence" name="OpenDoorAffordanceMain">
                 <Action ID="InitializeMTCTask" task_id="open_door_affordance" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_door_affordance_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCAffordanceTemplate" grasp_pose="{grasp_pose}" name="SetupMTCOpenDoorAffordance" parameters="{parameters}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" task="{open_door_affordance_task}" />
+                <Action ID="SetupMTCGraspThenMoveAlongArcPull" grasp_pose="{grasp_pose}" name="SetupMTCOpenDoorAffordance" parameters="{parameters}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" task="{open_door_affordance_task}" />
                 <Action ID="PlanMTCTask" solution="{open_door_affordance_solution}" task="{open_door_affordance_task}" />
             	<SubTree ID="Wait for Trajectory Approval if User Available" solution="{open_door_affordance_solution}"/>
                 <!-- Whether task execution succeeds or fails, reset the controllers to disable admittance control. -->

diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door_ml.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door_ml.xml
@@ -39,7 +39,7 @@
                 grasp_pose="{detected_grasp_pose}"
                 hinge_axis_pose_start="{hinge_axis_pose_start}"
                 hinge_axis_pose_end="{hinge_axis_pose_end}" />
-            <Action ID="GetHingeAxisFromSurfaceSelection"
+            <Action ID="GetMoveAlongArcSubframes"
                 target_grasp_pose="{detected_grasp_pose}"
                 hinge_axis_pose_end="{hinge_axis_pose_end}"
                 hinge_axis_pose_start="{hinge_axis_pose_start}"
@@ -54,7 +54,7 @@
                     controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
                     task="{open_door_affordance_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCAffordanceTemplate"
+                <Action ID="SetupMTCGraspThenMoveAlongArcPull"
                     name="SetupMTCOpenDoorAffordance"
                     grasp_pose="{affordance_grasp_pose}"
                     parameters="{parameters}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
@@ -29,7 +29,7 @@
                     controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
                     task="{open_lever_handle_door_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_lever_handle_door_task}" />
-                <Action ID="SetupMTCOpenLeverHandleDoor" handle_length="{handle_length}"
+                <Action ID="SetupMTCGraspAndTwistThenMoveAlongArcPush" handle_length="{handle_length}"
                     handle_pose="{handle_pose}" handle_z_offset="{handle_z_offset}"
                     parameters="{parameters}" task="{open_lever_handle_door_task}" />
                 <Action ID="PlanMTCTask" solution="{open_lever_handle_door_solution}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_config.yaml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_config.yaml
@@ -4,7 +4,7 @@ GetDoorHandle:
   # e.g. "world", is typically the right choice.
   door_handle_pose_frame_name: world
 
-SetupMTCOpenLeverHandleDoor:
+SetupMTCGraspAndTwistThenMoveAlongArcPush:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   ik_frame_name: "grasp_link"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml.xml
@@ -41,7 +41,7 @@
             <Control ID="Sequence" name="OpenLeverHandleDoor">
                 <Action ID="InitializeMTCTask" task_id="open_lever_handle_door_ml" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_lever_handle_door_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{open_lever_handle_door_task}"/>
-                <Action ID="SetupMTCOpenLeverHandleDoor"
+                <Action ID="SetupMTCGraspAndTwistThenMoveAlongArcPush"
                     handle_pose="{handle_pose}"
                     handle_length="{length}"
                     handle_z_offset="{height}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml_config.yaml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml_config.yaml
@@ -1,4 +1,4 @@
-SetupMTCOpenLeverHandleDoor:
+SetupMTCGraspAndTwistThenMoveAlongArcPush:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   ik_frame_name: "grasp_link"