Picknik ur multi arm gazebo config update (#270)

Update for 5.1.0
PickNikRobotics · May 6, 2024 · 77942c1 · 77942c1
1 parent d7267f7
commit 77942c1
Show file tree

Hide file tree

Showing 4 changed files with 8 additions and 5 deletions.
diff --git a/...k_ur_multi_arm_gazebo_config/description/simulation_worlds/space_station_blocks_world.sdf b/...k_ur_multi_arm_gazebo_config/description/simulation_worlds/space_station_blocks_world.sdf
@@ -132,7 +132,7 @@
         <collision name='collision'>
           <geometry>
             <mesh>
-              <uri>package://picknik_ur_multi_arm_config/description/simulation_worlds/agrisphere-facility-building-2.dae</uri>
+              <uri>package://picknik_accessories/descriptions/furniture/space_station/space_booth.dae</uri>
             </mesh>
           </geometry>
         </collision>

diff --git a/src/picknik_ur_multi_arm_gazebo_config/launch/agent_bridge.launch.xml b/src/picknik_ur_multi_arm_gazebo_config/launch/agent_bridge.launch.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>
diff --git a/src/picknik_ur_multi_arm_gazebo_config/objectives/pick_object.xml b/src/picknik_ur_multi_arm_gazebo_config/objectives/pick_object.xml
@@ -4,9 +4,7 @@
     <Control ID="Sequence" name="root">
       <SubTree ID="Open Right Gripper"/>
       <!--Wrap in a ForceSuccess decorator so this can be used as both a top-level tree and subtree-->
-      <Decorator ID="ForceSuccess">
-        <Action ID="GetPoseFromUser" parameter_name="pick_object.grasp_pose" parameter_value="{grasp_pose}"/>
-      </Decorator>
+      <Action ID="GetPointsFromUser" point_prompts="promn" point_names="namn" view_name="/wrist_mounted_camera/color/image_raw" pixel_coords="{pixel_coords}"/>
       <SubTree ID="Clear Snapshot" _collapsed="false"/>
       <Action ID="LoadObjectiveParameters" config_file_name="pick_object_left.yaml" parameters="{parameters}"/>
       <Action ID="InitializeMTCTask" task_id="pick_object" controller_names="/dual_arm_joint_trajectory_controller /right_robotiq_gripper_controller /left_robotiq_gripper_controller" task="{pick_object_task}"/>

diff --git a/src/picknik_ur_multi_arm_gazebo_config/objectives/take_snapshot.xml b/src/picknik_ur_multi_arm_gazebo_config/objectives/take_snapshot.xml
@@ -11,7 +11,7 @@
         <!--if we fail to get the string from the user fallback to an empty value for the uuid-->
         <Action ID="Script" code="uuid := ''"/>
       </Control>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{uuid}"/>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
     </Control>
   </BehaviorTree>
 </root>