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update use_all_planner
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Signed-off-by: Paul Gesel <[email protected]>
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@pac48
pac48 committed Mar 4, 2024
1 parent ab3bb72 commit e85f26d
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Showing 2 changed files with 18 additions and 18 deletions.
18 changes: 9 additions & 9 deletions src/kinova_gen3_base_config/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -5,28 +5,28 @@
<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<!-- Keep executing the pick and place sequence until failure -->
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Pick object from "Pick", put it down at "Place", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
<!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
</Control>
</Decorator>
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18 changes: 9 additions & 9 deletions src/picknik_kinova_gen3_site_config/objectives/3_waypoint_pick_and_place.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,28 +5,28 @@
<Control ID="Sequence">
<!-- Clear snapshot, move to center pose, and open gripper -->
<Action ID="ClearSnapshot" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<!-- Keep executing the pick and place sequence until failure -->
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Pick object from "Pick", put it down at "Place", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
<!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
<Control ID="Sequence">
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveToWaypoint" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
<Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0" target_velocity="0.5" max_effort="20.0" />
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
<Action ID="MoveToWaypoint" waypoint_name="Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false"/>
</Control>
</Control>
</Decorator>
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