Bill Finger
0c6b01bbfe
- **CMakeLists.txt**: - Commented out the unused `rbs_env_manager_starter` library. - **Behavior Trees**: - Added new `grasp_object.xml` behavior tree for grasping operations. - Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree. - **Source Code Updates**: - Removed `EnvManager.cpp`, deprecating its functionality. - Formatting `GetWorkspace.cpp` - Formatting `MoveGripper.cpp` - Formatting `MoveToJointStates.cpp` - Formatting `PoseEstimation.cpp` and `TreeRunner.cpp` - **Assembly Config Service**: - Added broadcasting for grasp pose transformations in `assembly_config_service.py`. These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.
36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="GraspObject">
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<Sequence>
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<Script code="action:='/cartesian_move_to_pose'" />
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<Action ID="GetWorkspace"
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object_name="{object_name}"
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service_name="{get_workspace}"
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grasp_pose="{grasp_pose}"
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pregrasp_pose="{pregrasp_pose}"
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postgrasp_pose="{postgrasp_pose}" />
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<Action ID="MoveToPose" pose="{pregrasp_pose}" robot_name="{robot_name}" action_name="{action}" />
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<Action ID="MoveToPose" pose="{grasp_pose}" robot_name="{robot_name}" action_name="{action}" />
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<Action ID="MoveToPose" pose="{postgrasp_pose}" robot_name="{robot_name}" action_name="{action}" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="GetWorkspace">
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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="grasp_pose" />
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<output_port name="pregrasp_pose" />
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<output_port name="postgrasp_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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</TreeNodesModel>
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</root>
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