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Merge pull request #207 from PickNikRobotics/merge-4.0.0-to-main
Merge 4.0.0 to main
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11 changes: 11 additions & 0 deletions
11
src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Object Segmentation 2D"> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="Object Segmentation 2D" _description="Detect objects using a 2D image segmentation model." _favorite="false" _hardcoded="false"> | ||
| <Control ID="Sequence" name="TopLevelSequence"> | ||
| <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/> | ||
| <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/> | ||
| <Action ID="GetMasks2DAction" image="{image}" action_name="/get_masks_2d_maskrcnn" valid_classes="" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0" max_relative_area="1" timeout_sec="-1" masks2d="{masks2d}"/> | ||
| </Control> | ||
| </BehaviorTree> | ||
| </root> |
26 changes: 26 additions & 0 deletions
26
src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Object Segmentation 3D"> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="Object Segmentation 3D" _description="Detect objects using a 2D image segmentation model and convert them to 3D masks and graspable objects." _favorite="false" _hardcoded="false"> | ||
| <Control ID="Sequence" name="TopLevelSequence"> | ||
| <Action ID="ClearSnapshot"/> | ||
| <Action ID="ResetPlanningSceneObjects" apply_planning_scene_service="/apply_planning_scene"/> | ||
| <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/> | ||
| <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/> | ||
| <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/> | ||
| <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/> | ||
| <Action ID="GetMasks2DAction" image="{image}" action_name="/get_masks_2d_maskrcnn" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0" max_relative_area="0.8" timeout_sec="-1" masks2d="{masks2d}" valid_classes=""/> | ||
| <Action ID="GetMasks3DFromMasks2D" point_cloud="{point_cloud}" masks2d="{masks2d}" camera_info="{camera_info}" masks3d="{masks3d}"/> | ||
| <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}"> | ||
| <Control ID="Sequence"> | ||
| <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/> | ||
| <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" point_cloud_uuid="" pcd_topic="/pcd_pointcloud_captures"/> | ||
| </Control> | ||
| </Decorator> | ||
| <Action ID="GetGraspableObjectsFromMasks3D" point_cloud="{point_cloud}" masks3d="{masks3d}" base_frame="world" plane_inlier_threshold="0.01" minimum_face_area="0.000625" face_separation_threshold="0.01" graspable_objects="{graspable_objects}"/> | ||
| <Decorator ID="ForEachGraspableObject" vector_in="{graspable_objects}" out="{object}"> | ||
| <Action ID="ModifyObjectInPlanningScene" object="{object}" apply_planning_scene_service="/apply_planning_scene"/> | ||
| </Decorator> | ||
| </Control> | ||
| </BehaviorTree> | ||
| </root> |
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