Gazebo config: Unfavorite Objectives, tweak favorited Waypoints (#68)

PickNikRobotics · Jul 18, 2023 · 4a07327 · 4a07327
1 parent bc44688
commit 4a07327
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Showing 4 changed files with 56 additions and 6 deletions.
diff --git a/src/picknik_ur_base_config/objectives/push_button.xml b/src/picknik_ur_base_config/objectives/push_button.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Push Button">
-    <BehaviorTree ID="Push Button" _description="Push a button with the end effector" _favorite="true">
+    <BehaviorTree ID="Push Button" _description="Push a button with the end effector">
         <Control ID="Sequence">
             <Action ID="LoadObjectiveParameters" config_file_name="push_along_axis_config.yaml" parameters="{parameters}" />
             <SubTree ID="CloseGripper" />

diff --git a/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
     <!-- ////////// -->
-    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly pick up a small object, place it at desired destination, and then navigate to specified waypoint until failure" _favorite="true">
+    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly pick up a small object, place it at desired destination, and then navigate to specified waypoint until failure">
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />

diff --git a/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml b/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Cabinet Door">
-    <BehaviorTree ID="Open Cabinet Door" _description="Open a cabinet door by grasping and pulling its handle" _favorite="true">
+    <BehaviorTree ID="Open Cabinet Door" _description="Open a cabinet door by grasping and pulling its handle">
         <Control ID="Sequence" name="Setup">
             <Action ID="LoadObjectiveParameters" config_file_name="open_door_affordance_config.yaml" parameters="{parameters}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_end" parameter_value="{hinge_axis_pose_end}" />

diff --git a/src/picknik_ur_gazebo_config/waypoints/waypoints.yaml b/src/picknik_ur_gazebo_config/waypoints/waypoints.yaml
@@ -49,7 +49,7 @@
     velocity: []
   name: Home
 - description: ''
-  favorite: true
+  favorite: false
   joint_state:
     effort: []
     header:
@@ -74,7 +74,7 @@
     velocity: []
   name: Left Corner
 - description: ''
-  favorite: true
+  favorite: false
   joint_state:
     effort: []
     header:
@@ -99,7 +99,7 @@
     velocity: []
   name: Right Corner
 - description: ''
-  favorite: true
+  favorite: false
   joint_state:
     effort: []
     header:
@@ -298,3 +298,53 @@
       - 2.282092208042741e-05
     velocity: []
   name: Wrist 2 Max
+- description: Move here and run Take Snapshot again!
+  favorite: true
+  joint_state:
+    effort: []
+    header:
+      frame_id: world
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - -1.5113688855545728
+      - -0.849676772994894
+      - -1.7900954114547076
+      - -0.6712599508612579
+      - 1.6807113853283657
+      - -0.010627009718118157
+    velocity: []
+  name: Right Wall
+- description: ''
+  favorite: true
+  joint_state:
+    effort: []
+    header:
+      frame_id: world
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    position:
+      - 0.0003205429823013286
+      - -0.3419419371606998
+      - -0.5134107235570269
+      - -2.3994585463037112
+      - 1.6501763241696035
+      - 3.878003640148636e-05
+    velocity: []
+  name: Monitor View