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This repository has been archived by the owner on Dec 13, 2024. It is now read-only.

Update SetupMTCMoveAlongFrameAxis parameters #164

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Jan 6, 2024
Merged

Update SetupMTCMoveAlongFrameAxis parameters #164

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19b0e80
Update SetupMTCMoveAlongFrameAxis parameters
Abishalini Jan 4, 2024
1ac6e4f
Fix close cabinet
Abishalini Jan 4, 2024
ac8b6e2
Update SetupMTCMoveAlongFrameAxis parameters
Abishalini Jan 4, 2024
f293612
Fix close cabinet
Abishalini Jan 4, 2024
055920e
Merge branch 'pr-update-SetupMTCMoveAlongFrameAxis-behavior' of githu…
sea-bass Jan 5, 2024
6db9fc5
Add missed changes
sea-bass Jan 5, 2024
0bc674f
Change axis frame
Abishalini Jan 6, 2024
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2 changes: 1 addition & 1 deletion src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
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Expand Up @@ -12,7 +12,7 @@
<Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
<Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
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5 changes: 0 additions & 5 deletions src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml
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@@ -1,8 +1,3 @@
SetupMTCMoveAlongFrameAxis:
arm_group_name: "manipulator"
hand_frame_name: "manual_grasp_link"
velocity_acceleration_scaling_factor: 0.05

AllowGripperCollisionWithOctomap:
group_name: "gripper"
object_name: "<octomap>"
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2 changes: 1 addition & 1 deletion src/picknik_ur_gazebo_config/objectives/push_button.xml
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Expand Up @@ -12,7 +12,7 @@
<Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
<Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
<Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
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5 changes: 0 additions & 5 deletions src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
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@@ -1,8 +1,3 @@
SetupMTCMoveAlongFrameAxis:
arm_group_name: "manipulator"
hand_frame_name: "manual_grasp_link"
velocity_acceleration_scaling_factor: 0.05

AllowGripperCollisionWithOctomap:
group_name: "gripper"
object_name: "<octomap>"
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3 changes: 1 addition & 2 deletions src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
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Expand Up @@ -43,8 +43,7 @@
<Action ID="SetupMTCUpdateGroupCollisionRule"
name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
task="{push_along_axis_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule"
name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
task="{push_along_axis_task}" />
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2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/close_cabinet_door.xml
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Expand Up @@ -12,7 +12,7 @@
<Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{close_cabinet_door_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
<Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
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5 changes: 0 additions & 5 deletions src/picknik_ur_site_config/objectives/push_along_axis_config.yaml
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@@ -1,8 +1,3 @@
SetupMTCMoveAlongFrameAxis:
arm_group_name: "manipulator"
hand_frame_name: "manual_grasp_link"
velocity_acceleration_scaling_factor: 0.05

AllowGripperCollisionWithOctomap:
group_name: "gripper"
object_name: "<octomap>"
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2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/push_button.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
<Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
<Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
<Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />
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3 changes: 1 addition & 2 deletions src/picknik_ur_site_config/objectives/push_button_ml.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,7 @@
<Action ID="SetupMTCUpdateGroupCollisionRule"
name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
task="{push_along_axis_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
<Action ID="SetupMTCUpdateGroupCollisionRule"
name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
task="{push_along_axis_task}" />
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