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Update Objectives that use IsForceWithinThreshold (#107)
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@sea-bass
sea-bass authored Sep 25, 2023
1 parent ee46c0b commit 714279d
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Showing 3 changed files with 18 additions and 21 deletions.
13 changes: 6 additions & 7 deletions src/picknik_ur_site_config/objectives/close_cabinet_door.xml
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Expand Up @@ -18,14 +18,13 @@
<Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
<Action ID="WaitForUserTrajectoryApproval" solution="{full_close_cabinet_door_solution}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>

<Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
<ForceSuccess>
<ReactiveSequence>
<Condition ID="IsForceWithinThreshold" parameters="{parameters}" />
<Action ID="ExecuteMTCTask" solution="{push_solution}" />
</ReactiveSequence>
</ForceSuccess>
<Control ID="Parallel" success_count="1" failure_count="1">
<Decorator ID="Inverter">
<Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
</Decorator>
<Action ID="ExecuteMTCTask" solution="{push_solution}"/>
</Control>
</Control>
<SubTree ID="RetreatToInitialPose" pre_approach_robot_state="{pre_approach_robot_state}" initial_robot_state="{initial_robot_state}" parameters="{parameters}" />
</Control>
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13 changes: 6 additions & 7 deletions src/picknik_ur_site_config/objectives/push_button.xml
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Expand Up @@ -18,14 +18,13 @@
<Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
<Action ID="WaitForUserTrajectoryApproval" solution="{full_push_button_solution}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}"/>

<Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
<ForceSuccess>
<ReactiveSequence>
<Condition ID="IsForceWithinThreshold" parameters="{parameters}" />
<Action ID="ExecuteMTCTask" solution="{push_solution}" />
</ReactiveSequence>
</ForceSuccess>
<Control ID="Parallel" success_count="1" failure_count="1">
<Decorator ID="Inverter">
<Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
</Decorator>
<Action ID="ExecuteMTCTask" solution="{push_solution}"/>
</Control>
</Control>
<SubTree ID="RetreatToInitialPose" pre_approach_robot_state="{pre_approach_robot_state}" initial_robot_state="{initial_robot_state}" parameters="{parameters}" />
</Control>
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13 changes: 6 additions & 7 deletions src/picknik_ur_site_config/objectives/push_button_ml.xml
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Expand Up @@ -56,14 +56,13 @@
<Action ID="WaitForUserTrajectoryApproval"
solution="{full_push_along_axis_solution}" />
<Action ID="ExecuteMTCTask" solution="{move_to_approach_solution}" />

<Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
<ForceSuccess>
<ReactiveSequence>
<Condition ID="IsForceWithinThreshold" parameters="{parameters}" />
<Action ID="ExecuteMTCTask" solution="{push_solution}" />
</ReactiveSequence>
</ForceSuccess>
<Control ID="Parallel" success_count="1" failure_count="1">
<Decorator ID="Inverter">
<Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
</Decorator>
<Action ID="ExecuteMTCTask" solution="{push_solution}"/>
</Control>
</Control>
<SubTree ID="RetreatToInitialPose"
pre_approach_robot_state="{pre_approach_robot_state}"
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