Skip to content
This repository has been archived by the owner on Dec 13, 2024. It is now read-only.

Add use_all_planners port to SetupMTCMoveToPose behavior in XML #94

Merged
merged 1 commit into from
Aug 24, 2023
Merged

Add use_all_planners port to SetupMTCMoveToPose behavior in XML #94

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/picknik_ur_base_config/objectives/move_to_pose.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
<Action ID="GetPoseFromUser" parameter_name="move_to_pose.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
<Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
<Fallback name="wait_for_approval_if_user_available">
<Inverter>
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/close_cabinet_door.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
<Action ID="InitializeMTCTask" task_id="close_cabinet_door" controller_names="/joint_trajectory_controller" task="{close_cabinet_door_task}"/>
<Action ID="SetupMTCCurrentState" task="{close_cabinet_door_task}"/>
<Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/inspect_surface.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<Action ID="InitializeMTCTask" task_id="inspect_surface" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
<Action ID="GetPoseFromUser" parameter_name="inspect_surface.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
<Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
<Fallback name="wait_for_approval_if_user_available">
<Inverter>
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/push_button.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
<Action ID="InitializeMTCTask" task_id="push_button" controller_names="/joint_trajectory_controller" task="{push_button_task}"/>
<Action ID="SetupMTCCurrentState" task="{push_button_task}"/>
<Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}"/>
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
<Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_ur_site_config/objectives/push_button_ml.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
<Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
<Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link"
planning_group_name="manipulator" target_pose="{button_pose}"
task="{push_along_axis_task}" />
task="{push_along_axis_task}" use_all_planners="false"/>
<Action ID="SetupMTCUpdateGroupCollisionRule"
name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
task="{push_along_axis_task}" />
Expand Down