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Create move_to_pose.xml #17

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May 22, 2023
Merged

Create move_to_pose.xml #17

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0a89555
Create move_to_pose.xml
noah-wardlow May 22, 2023
44a05d5
Update move_to_pose.xml
noah-wardlow May 22, 2023
7069490
Update move_to_pose.xml
noah-wardlow May 22, 2023
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18 changes: 18 additions & 0 deletions src/picknik_ur_base_config/objectives/move_to_pose.xml
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<?xml version="1.0"?>
<root BTCPP_format="4" main_tree_to_execute="Move to Pose">
<BehaviorTree ID="Move to Pose" _description="Uses inverse kinematics to move the robot to a set gripper position">
<Sequence>
<Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{move_to_pose.target_pose}" task="{move_to_pose_task}"/>
<Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
<Fallback name="wait_for_approval_if_user_available">
<Inverter>
<Action ID="IsUserAvailable" />
</Inverter>
<Action ID="WaitForUserTrajectoryApproval" solution="{move_to_pose_solution}" />
</Fallback>
<Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
</Sequence>
</BehaviorTree>
</root>