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.
64 lines
2.2 KiB
XML
64 lines
2.2 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="PlaceObject">
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<Sequence>
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<!-- <Script code="open_gripper_limit:='-0.014'" /> -->
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<!-- <Script code="close_gripper_limit:='0.0'" /> -->
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<!---->
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<!-- <Script code="robot_name:='rbs_arm'" /> -->
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<!-- <Script code="place_pose_name:='box_2mm_hole'" /> -->
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<!---->
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<!-- <Script code="grasp_service:='/get_place_poses'" /> -->
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<!-- <Script code="move_action:='/mtp_jtc'" /> -->
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<!-- <Script code="grpper_action:='/gripper_controller/gripper_cmd'" /> -->
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<Action ID="GetPlacePose"
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place_pose_name="{place_pose_name}"
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service_name="{grasp_service}"
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place_pose="{place_pose}"
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preplace_pose="{preplace_pose}"
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postplace_pose="{postplace_pose}" />
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<Action ID="MoveToPose" pose="{preplace_pose}" duration="5.0" robot_name="{robot_name}"
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action_name="{move_action}" />
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<Action ID="MoveToPose" pose="{place_pose}" duration="2.0" robot_name="{robot_name}"
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action_name="{move_action}" />
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<Action ID="GripperCommand" open_limit="{open_gripper_limit}" close_limit="{close_gripper_limit}" state="open"
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action_name="{gripper_action}" />
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<Action ID="MoveToPose" pose="{postplace_pose}" duration="2.0" robot_name="{robot_name}"
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action_name="{move_action}" />
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<Action ID="GripperCommand" open_limit="{open_gripper_limit}" close_limit="{close_gripper_limit}" state="close"
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action_name="{gripper_action}" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="GetGraspPose">
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<input_port name="object_name" />
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<input_port name="service_name" />
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<output_port name="place_pose" />
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<output_port name="preplace_pose" />
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<output_port name="postplace_pose" />
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</Action>
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<Action ID="MoveToPose">
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<input_port name="pose" />
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<input_port name="robot_name" />
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<input_port name="action_name" />
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</Action>
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<Action ID="GripperCommand">
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<input_port name="open_limit" />
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<input_port name="close_limit" />
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<input_port name="state" />
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<input_port name="action_name"/>
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</Action>
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</TreeNodesModel>
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</root>
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