21 lines
896 B
XML
21 lines
896 B
XML
<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="Grasp">
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<Sequence>
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<Script code="action:='/mtp_jtc'"/>
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<Script code="get_workspace:='/get_workspace'"/>
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<Action ID="GetGraspPlacePose" action_name="pick" pre_pose="{pregrasp}" pose="{grasp}" post_pose="{postgrasp}" service_name="/get_pick_place_poses"/>
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<Action ID="MoveToPose" pose="{pregrasp}" robot_name="{robot_name}" duration="2" action_name="{action}" />
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<Action ID="ToggleVacuumGrippper" enable="true" service_name="/gz_ros2_vacuum_gripper_plugin/toggle" />
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<Action ID="MoveToPose" pose="{grasp}" robot_name="{robot_name}" duration="2" action_name="{action}" />
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<Action ID="MoveToPose" pose="{postgrasp}" robot_name="{robot_name}" duration="2" action_name="{action}" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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</TreeNodesModel>
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</root>
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