update paths in scan_and_plan objective (#204)

PickNikRobotics · Feb 8, 2024 · 4eb3eca · 4eb3eca
1 parent 716efce
commit 4eb3eca
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
       <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
-      <SubTree ID="Estimate Object Pose" object_model_file_path="/opt/overlay_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
+      <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
       <Action ID="LoadPoseStampedVectorFromYaml" file_path="trajectory_around_hercules.yaml" output="{pose_stamped_msgs}"/>
       <Decorator ID="ForEachPoseStamped" vector_in="{pose_stamped_msgs}" out="{trajectory_pose}">
         <Control ID="Sequence">
@@ -19,7 +19,7 @@
       <Action ID="ClearSnapshot"/>
       <Action ID="MergePointClouds" point_clouds="{point_cloud_vector}" grid_resolution_meters="0.001" merged_cloud="{merged_cloud}"/>
       <Action ID="SendPointCloudToUI" point_cloud="{merged_cloud}" sensor_name="scene_scan_camera" point_cloud_uuid="" pcd_topic="/pcd_pointcloud_captures"/>
-      <Action ID="SavePointCloudToFile" point_cloud="{merged_cloud}" file_path="~/.config/moveit_studio/saved_behavior_data" file_prefix="pointcloud"/>
+      <Action ID="SavePointCloudToFile" point_cloud="{merged_cloud}" file_path="~/.config/moveit_pro/saved_behavior_data" file_prefix="pointcloud"/>
     </Control>
   </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
       <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
-      <SubTree ID="Estimate Object Pose" object_model_file_path="/opt/overlay_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
+      <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
     </Control>
   </BehaviorTree>
 </root>