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Update 3_waypoint_pick_and_place.xml
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@davetcoleman
davetcoleman authored Jul 10, 2024
1 parent d404b0f commit 544c2a7
Showing 1 changed file with 9 additions and 9 deletions.
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 @@ -6,28 +6,28 @@
<!--Reset the planning scene to ensure no old collision objects are hanging around-->
<Action ID="ClearSnapshot"/>
<!--Setup the environment to its "home" configuration - move to center and open gripper-->
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<!--Run pick and place on loop-->
<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">
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
<!--Pick object from the CNC machine, put it down on the right, and go back to center pose-->
<Control ID="Sequence">
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
</Control>
</Decorator>
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