Bill Finger
213179adbd
- Added `GetPlacePose` skill client library and associated service node to handle place pose retrieval, including preplace and postplace poses. - Created new behavior trees (`pick_and_place.xml`, `place_object.xml`) for handling pick-and-place operations with enhanced modularity. - Updated `AssemblyConfig` to include `place_poses` alongside `grasp_poses`, improving flexibility in assembly workflows. - Refactored YAML parsing and codebase to differentiate between `grasp_poses` and `place_poses` for better clarity and maintainability. - Updated related XML behavior tree nodes, scripts, and skill structures to integrate `GetPlacePose` functionality. - Adjusted gripper command maximum effort to `3.0` for improved control. - Added a new message definition for `GetPlacePose` service in the `rbs_utils_interfaces` package. - Updated CMakeLists.txt to include the new service and ensure proper build configuration.
17 lines
669 B
XML
17 lines
669 B
XML
<?xml version='1.0' encoding='utf-8'?>
|
|
<root BTCPP_format="4">
|
|
<BehaviorTree ID="PickAndPlace">
|
|
<Sequence>
|
|
|
|
<SubTree ID="GraspObject" open_gripper_limit="-0.014" close_gripper_limit="0.0"
|
|
robot_name="ar4" object_name="box" grasp_service="/get_grasp_poses" move_action="/mtp_jtc"
|
|
gripper_action="/gripper_controller/gripper_cmd" />
|
|
|
|
<SubTree ID="PlaceObject" open_gripper_limit="-0.014" close_gripper_limit="0.0"
|
|
robot_name="ar4" place_pose_name="box_2mm_hole" grasp_service="/get_place_poses"
|
|
move_action="/mtp_jtc"
|
|
gripper_action="/gripper_controller/gripper_cmd" />
|
|
|
|
</Sequence>
|
|
</BehaviorTree>
|
|
</root>
|