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update use_all_planners -> planner_interface #296

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Jul 2, 2024
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update use_all_planners -> planner_interface #296

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19f71c5
update use_all_planners -> planner_interface
marioprats Jun 28, 2024
1fe77b3
Merge branch 'main' into new_rrt
marioprats Jul 2, 2024
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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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<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<SubTree ID="Move to Waypoint" waypoint_name="Look at Table" 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 Table" 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"/>
<!-- 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">
<SubTree ID="Move to Waypoint" waypoint_name="Pick Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick Block" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place Block" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place Block" 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 Table" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
<!-- Pick object from "Place", put it down at "Grab", and go back to center pose -->
<Control ID="Sequence">
<SubTree ID="Move to Waypoint" waypoint_name="Place Block" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place Block" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick Block" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick Block" 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 Table" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</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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<BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure">
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<SubTree ID="Move to Waypoint" waypoint_name="Right Corner" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Right Corner" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
</Decorator>
</BehaviorTree>
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2 changes: 1 addition & 1 deletion src/picknik_ur_base_config/objectives/move_to_joint_state.xml
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<Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
<Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" use_all_planners="false" />
<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" planner_interface="moveit_default" />
<Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
<Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
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2 changes: 1 addition & 1 deletion src/picknik_ur_base_config/objectives/move_to_pose.xml
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<Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
<Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="{controller_names}" task="{move_to_pose_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
<Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" planner_interface="moveit_default"/>
<Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
<SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
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25 changes: 14 additions & 11 deletions src/picknik_ur_base_config/objectives/move_to_waypoint.xml
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@@ -1,13 +1,16 @@
<?xml version="1.0"?>
<?xml version='1.0' encoding='UTF-8'?>
<root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
<BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
<Control ID="Sequence" name="root">
<Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
<Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" use_all_planners="{use_all_planners}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
<Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
</Control>
</BehaviorTree>
<BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
<Control ID="Sequence" name="root">
<Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
<Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
<Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
<Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Move to Waypoint"/>
</TreeNodesModel>
</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" />
<SubTree ID="Move to Waypoint" waypoint_name="Look at Table" 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 Table" 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"/>
<!-- 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">
<SubTree ID="Move to Waypoint" waypoint_name="Pick" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place" 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 Table" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
<!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
<Control ID="Sequence">
<SubTree ID="Move to Waypoint" waypoint_name="Place" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Place" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<SubTree ID="Move to Waypoint" waypoint_name="Pick" 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 Table" 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 Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
</Control>
</Decorator>
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2 changes: 1 addition & 1 deletion src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
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<!-- ////////// -->
<BehaviorTree ID="Object Segmentation 2D" _description="Detect objects using a 2D image segmentation model." _favorite="false" _hardcoded="false">
<Control ID="Sequence" name="TopLevelSequence">
<SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<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>
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2 changes: 1 addition & 1 deletion src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
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<Control ID="Sequence" name="TopLevelSequence">
<Action ID="ClearSnapshot"/>
<Action ID="ResetPlanningSceneObjects" apply_planning_scene_service="/apply_planning_scene"/>
<SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<SubTree ID="Move to Waypoint" waypoint_name="Extended Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
<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}"/>
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2 changes: 1 addition & 1 deletion src/picknik_ur_gazebo_config/objectives/pick_apriltag_labeled_object.xml
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<Control ID="Sequence" name="TopLevelSequence">
<Control ID="Sequence" name="Setup">
<SubTree ID="Open Gripper"/>
<SubTree ID="Move to Waypoint" waypoint_name="Look at Pick and Place Zone" 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 Pick and Place Zone" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
</Control>
<SubTree ID="Sample April Tag" num_samples="5" tag_id="1" apriltag_config="apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
<Action ID="LoadObjectiveParameters" config_file_name="apriltag1_grasp_offset.yaml" parameters="{pose_parameters}"/>
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