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Merge 9.1 to main #553
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Merge 9.1 to main #553
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4fa8066
Fix Jazzy Build (Again)
JWhitleyWork e0c73ca
Merge pull request #540 from PickNikRobotics/final-jazzy-fix
JWhitleyWork f520997
add mujoco behaviors plugin to hangar_sim
marioprats 7e81739
loop version of Plan Path Along Surface
marioprats 0029c96
bump phoebe_ws to update Objective and pass CI validation
marioprats 675cce5
Merge pull request #542 from PickNikRobotics/erf_updates
davetcoleman 4ea3ac2
17708 Add missing collision and visual geometry to planning scene
griswaldbrooks c910991
Increase path tolerance so Grasp Object from Point succeeds on feasib…
griswaldbrooks 9f0ae83
Replace 'Above Pick Cube' with 'Above Pick Object'
dsobek 3b6e3fd
Merge pull request #547 from PickNikRobotics/kitchen-sim-path-tolerance
marioprats c036ac2
Merge pull request #548 from PickNikRobotics/fix-pick-1-pill-bottle
dsobek 0908225
Fix Stack Objects with ICP objective
dsobek 5e3a651
add launch commands for moveit pro for new sim
bkanator ea2bbf2
Merge pull request #550 from PickNikRobotics/17728-lunar_sim-does-not…
bkanator b18b96d
17718 Increase path tolerance on factory sim to allow Pick and Place …
griswaldbrooks c2fcd99
Merge pull request #549 from PickNikRobotics/fix-icp-objective
dsobek 4359ecb
Merge pull request #545 from PickNikRobotics/17708-add-access-stand-c…
JWhitleyWork 3d67bdb
Merge pull request #552 from PickNikRobotics/17718-pick-and-place-pat…
griswaldbrooks 4029489
Fix Invalid URDF Names
JWhitleyWork 964c6a1
Merge pull request #554 from PickNikRobotics/9.1-fix-invalid-names
JWhitleyWork 67671e8
Merge branch 'v9.1' into merge-9.1-to-main
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Submodule phoebe_ws
updated
1 files
| +0 −1 | src/phoebe_sim/objectives/segment_image_from_no_negative_text_prompt_subtree.xml |
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3 changes: 3 additions & 0 deletions
3
src/hangar_sim/description/assets/hangar_mesh/SM_AccessStand_441.001.dae
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134 changes: 134 additions & 0 deletions
134
src/hangar_sim/objectives/plan_path_along_surface_-_loop.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Plan Path Along Surface - Loop"> | ||
| <BehaviorTree | ||
| ID="Plan Path Along Surface - Loop" | ||
| _description="Plan and execute a path following a surface" | ||
| _favorite="true" | ||
| > | ||
| <Decorator ID="KeepRunningUntilFailure"> | ||
| <Control ID="Sequence" name="TopLevelSequence" _collapsed="true"> | ||
| <SubTree | ||
| ID="Move to Waypoint (JTC)" | ||
| _collapsed="true" | ||
| acceleration_scale_factor="1.0" | ||
| controller_names="joint_trajectory_controller" | ||
| joint_group_name="manipulator" | ||
| keep_orientation="false" | ||
| keep_orientation_tolerance="0.05" | ||
| link_padding="0.0" | ||
| seed="0" | ||
| velocity_scale_factor="1.0" | ||
| waypoint_name="Look at Plane" | ||
| /> | ||
| <Control ID="Sequence" _collapsed="true"> | ||
| <!--Get a point cloud and crop it to the area of interest--> | ||
| <Action | ||
| ID="GetPointCloud" | ||
| topic_name="/wrist_camera/points" | ||
| message_out="{point_cloud}" | ||
| publisher_timeout_sec="5.000000" | ||
| message_timeout_sec="5.000000" | ||
| /> | ||
| <Action | ||
| ID="TransformPointCloudFrame" | ||
| input_cloud="{point_cloud}" | ||
| output_cloud="{point_cloud}" | ||
| target_frame="world" | ||
| /> | ||
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|
||
| <Action | ||
| ID="CreateStampedPose" | ||
| reference_frame="world" | ||
| stamped_pose="{roi_frame}" | ||
| position_xyz="0;12;1.7" | ||
| /> | ||
| <Action | ||
| ID="CropPointsInBox" | ||
| crop_box_centroid_pose="{roi_frame}" | ||
| point_cloud="{point_cloud}" | ||
| point_cloud_cropped="{point_cloud}" | ||
| crop_box_size="5;15;0.2" | ||
| /> | ||
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|
||
| <!--Visualize the cropped point cloud--> | ||
| <Action | ||
| ID="SendPointCloudToUI" | ||
| pcd_topic="/pcd_pointcloud_captures" | ||
| point_cloud="{point_cloud}" | ||
| /> | ||
| </Control> | ||
| <Control ID="Sequence" _collapsed="true"> | ||
| <!--Get the centroid of the cropped point cloud and use it to get a contour--> | ||
| <Action | ||
| ID="GetCentroidFromPointCloud" | ||
| output_pose="{centroid}" | ||
| point_cloud="{point_cloud}" | ||
| /> | ||
| <Action | ||
| ID="VisualizePose" | ||
| marker_lifetime="20" | ||
| marker_name="centroid" | ||
| marker_size="0.200000" | ||
| pose="{centroid}" | ||
| /> | ||
| <Action | ||
| ID="GetContourFromPointCloudSlice" | ||
| contour_path="{contour_path}" | ||
| max_pose_spacing="0.200000" | ||
| hull_alpha="-1.000000" | ||
| input_cloud="{point_cloud}" | ||
| slice_distance_from_plane="0.100000" | ||
| slice_plane="{centroid}" | ||
| contour_crop_angle_span="3.2" | ||
| contour_crop_angle_start="1.58" | ||
| /> | ||
| <Action | ||
| ID="VisualizePath" | ||
| marker_lifetime="20" | ||
| marker_name="path" | ||
| path="{contour_path}" | ||
| pose_marker_size="0.100000" | ||
| show_poses="true" | ||
| /> | ||
| </Control> | ||
| <Control ID="Sequence" _collapsed="true"> | ||
| <!--Plan and execute a path following the contour at a small distance--> | ||
| <Action | ||
| ID="PlanCartesianPath" | ||
| acceleration_scale_factor="1.000000" | ||
| blending_radius="0.0050000" | ||
| ik_cartesian_space_density="0.010000" | ||
| ik_joint_space_density="0.100000" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| path="{contour_path}" | ||
| planning_group_name="manipulator" | ||
| position_only="false" | ||
| trajectory_sampling_rate="100" | ||
| velocity_scale_factor="1.000000" | ||
| tip_offset="0;0;0.1;0;0;0" | ||
| debug_solution="{debug_solution}" | ||
| /> | ||
| <Action | ||
| ID="ExecuteTrajectory" | ||
| execution_pipeline="jtc" | ||
| controller_action_name="/joint_trajectory_controller/follow_joint_trajectory" | ||
| /> | ||
| </Control> | ||
| <SubTree | ||
| ID="Move to Waypoint (JTC)" | ||
| _collapsed="true" | ||
| waypoint_name="Look at Plane" | ||
| link_padding="0" | ||
| acceleration_scale_factor="1.0" | ||
| _skipIf="true" | ||
| /> | ||
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||
| </Control> | ||
| </Decorator> | ||
| </BehaviorTree> | ||
| <TreeNodesModel> | ||
| <SubTree ID="Plan Path Along Surface - Loop"> | ||
| <MetadataFields> | ||
| <Metadata runnable="true" /> | ||
| <Metadata subcategory="Training Examples" /> | ||
| </MetadataFields> | ||
| </SubTree> | ||
| </TreeNodesModel> | ||
| </root> | ||
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