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Rename MoveToJointState to MoveToWaypoint in configs #95

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Aug 31, 2023
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Rename MoveToJointState to MoveToWaypoint in configs #95

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18 changes: 9 additions & 9 deletions src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -5,28 +5,28 @@
<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<!-- Keep executing the pick and place sequence until failure -->
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Pick object from "Grab", put it down at "Place", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
<!-- Pick object from "Place", put it down at "Grab", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
</Control>
</Decorator>
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4 changes: 2 additions & 2 deletions src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
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Expand Up @@ -3,8 +3,8 @@
<BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure">
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Right Corner" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Right Corner" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
</Decorator>
</BehaviorTree>
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9 changes: 0 additions & 9 deletions src/picknik_ur_base_config/objectives/move_to_joint_state.xml
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9 changes: 9 additions & 0 deletions src/picknik_ur_base_config/objectives/move_to_waypoint.xml
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@@ -0,0 +1,9 @@
<?xml version="1.0"?>
<root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
<BehaviorTree ID="Move to Waypoint" _description="Single-node behavior to move to a specified waypoint">
<Control ID="Sequence">
<Action ID="GetStringFromUser" parameter_name="move_to_waypoint.waypoint_name" parameter_value="{waypoint_name}" />
<Action ID="MoveToWaypoint" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planning_group_name="manipulator" waypoint_name="{waypoint_name}" use_all_planners="true"/>
</Control>
</BehaviorTree>
</root>
18 changes: 9 additions & 9 deletions src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -5,28 +5,28 @@
<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<!-- Keep executing the pick and place sequence until failure -->
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Pick object from "Pick", put it down at "Place", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
<!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
</Control>
</Decorator>
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4 changes: 2 additions & 2 deletions src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml
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Expand Up @@ -6,7 +6,7 @@
<Control ID="Sequence" name="Setup">
<Action ID="LoadObjectiveParameters" config_file_name="apriltag_detection_config.yaml" parameters="{parameters}"/>
<SubTree ID="Open Gripper"/>
<Action ID="MoveToJointState" waypoint_name="Look at Pick and Place Zone" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Pick and Place Zone" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
<Control ID="Sequence" name="GetDetection">
<Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
Expand All @@ -19,7 +19,7 @@
<Action ID="TransformPose" input_pose="{detection_pose_world}" translation_xyz="-0.1;0.0;0.05" quaternion_xyzw="-0.707;0.707;0.0;0.0" output_pose="{grasp_pose}"/>
<Action ID="MoveToPose" target_pose="{grasp_pose}" ik_frame="manual_grasp_link" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<SubTree ID="Close Gripper"/>
<Action ID="MoveToJointState" waypoint_name="Look at Pick and Place Zone" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Pick and Place Zone" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
</Control>
</BehaviorTree>
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18 changes: 9 additions & 9 deletions src/picknik_ur_mock_hw_config/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -5,28 +5,28 @@
<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<Action ID="MoveToJointState" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<!-- Keep executing the pick and place sequence until failure -->
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Pick object from left, put it down at the CNC machine, and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Grasp Left" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Grasp Left" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Grasp Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Grasp Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
<!-- Pick object from the CNC machine, put it down on the right, and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToJointState" waypoint_name="Grasp Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Grasp Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<Action ID="MoveToJointState" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToJointState" waypoint_name="Grasp Left" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Grasp Left" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<Action ID="MoveToJointState" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Look at Machine" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
</Control>
</Control>
</Decorator>
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