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.
8 lines
303 B
Text
8 lines
303 B
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string assets_db
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geometry_msgs/Point[] workspace
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rbs_utils_interfaces/NamedPose[] absolute_part
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rbs_utils_interfaces/RelativeNamedPose[] relative_part
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rbs_utils_interfaces/RelativeNamedPose[] grasp_poses
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rbs_utils_interfaces/RelativeNamedPose[] place_poses
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rbs_utils_interfaces/NamedPose[] extra_poses
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