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Use new SetupMTCMoveTo_ProRRT behaviors
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Replace:
* `SetupMTCMoveToPose` -> `SetupMTCMoveToPoseProRRT`
* `SetupMTCMoveToJointState` -> `SetupMTCMoveToJointStateProRRT`

Remove deprecated `planner_interface` port.

The new behaviors expose more planning parameters for the Pro RRT
Connect planner.
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@dyackzan
dyackzan committed Jan 3, 2025
1 parent 9b7a5f9 commit 1f51215
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Showing 43 changed files with 19 additions and 104 deletions.
3 changes: 1 addition & 2 deletions src/fanuc_sim/objectives/move_to_pose.xml
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Expand Up @@ -14,12 +14,11 @@
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="tool0"
planning_group_name="manipulator"
target_pose="{target_pose}"
task="{move_to_pose_task}"
planner_interface="moveit_default"
/>
<Action
ID="PlanMTCTask"
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12 changes: 4 additions & 8 deletions src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
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Expand Up @@ -6,7 +6,6 @@
_subtreeOnly="true"
_description=""
joint_group_name="manipulator"
planner_interface="moveit_default"
mtc_task="{mtc_task}"
>
<Control ID="Sequence">
Expand All @@ -17,11 +16,10 @@
joint_group_name="{joint_group_name}"
/>
<Action
ID="SetupMTCMoveToJointState"
ID="SetupMTCMoveToJointStateProRRT"
joint_state="{target_joint_state}"
name="SetupMTCMoveToJointState"
name="SetupMTCMoveToJointStateProRRT"
planning_group_name="{joint_group_name}"
planner_interface="{planner_interface}"
task="{mtc_task}"
/>
<Action
Expand All @@ -31,19 +29,17 @@
joint_group_name="{joint_group_name}"
/>
<Action
ID="SetupMTCMoveToJointState"
ID="SetupMTCMoveToJointStateProRRT"
joint_state="{target_joint_state}"
name="SetupMTCMoveToJointState"
name="SetupMTCMoveToJointStateProRRT"
planning_group_name="{joint_group_name}"
planner_interface="{planner_interface}"
task="{mtc_task}"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Add Waypoints to MTC Task">
<input_port name="joint_group_name" default="manipulator" />
<input_port name="planner_interface" default="moveit_default" />
<inout_port name="mtc_task" default="{mtc_task}" />
<MetadataFields>
<Metadata subcategory="Application - Basic Examples" />
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3 changes: 0 additions & 3 deletions src/lab_sim/objectives/joint_diagnostic.xml
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Expand Up @@ -12,7 +12,6 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
Expand All @@ -22,14 +21,12 @@
waypoint_name="Wrist 2 Max"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Wrist 2 Min"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
</Control>
</Decorator>
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1 change: 0 additions & 1 deletion src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
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Expand Up @@ -13,7 +13,6 @@
_collapsed="true"
waypoint_name="Workspace Right"
joint_group_name="manipulator"
planner_interface="moveit_default"
controller_names="/joint_trajectory_controller"
/>
<Action
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2 changes: 0 additions & 2 deletions src/lab_sim/objectives/plan_and_save_trajectory.xml
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Expand Up @@ -14,7 +14,6 @@
_collapsed="true"
waypoint_name="Workspace Right"
joint_group_name="manipulator"
planner_interface="moveit_default"
controller_names="/joint_trajectory_controller"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
Expand Down Expand Up @@ -46,7 +45,6 @@
mtc_task="{mtc_task}"
waypoint_names="Pick Cube;Place Cube"
joint_group_name="manipulator"
planner_interface="moveit_default"
/>
<!-- Perform the computationally intensive calculation now -->
<Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
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3 changes: 1 addition & 2 deletions src/lab_sim/objectives/plan_move_to_pose.xml
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Expand Up @@ -15,12 +15,11 @@
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="grasp_link"
planning_group_name="manipulator"
target_pose="{target_pose}"
task="{move_to_pose_task}"
planner_interface="moveit_default"
/>
<Action
ID="PlanMTCTask"
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3 changes: 1 addition & 2 deletions src/lab_sim/objectives/plan_to_pose.xml
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Expand Up @@ -31,12 +31,11 @@
/>
<Action ID="Script" code="pose_ctr += 1" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="{ik_frame}"
planning_group_name="{planning_group_name}"
target_pose="{target_pose}"
task="{mtc_task}"
planner_interface="moveit_default"
/>
</Control>
</Decorator>
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2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_pose.xml
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Expand Up @@ -19,7 +19,7 @@
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="grasp_link"
planning_group_name="manipulator"
target_pose="{target_pose}"
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2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti.xml
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Expand Up @@ -188,7 +188,7 @@
task="{mtc_task}"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action ID="SetupMTCMoveToPose" target_pose="{hole_object}" />
<Action ID="SetupMTCMoveToPoseProRRT" target_pose="{hole_object}" />
<Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
<Action ID="ExecuteMTCTask" solution="{mtc_solution}" />
<Action
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2 changes: 1 addition & 1 deletion ...eit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/compliant_grasp_rafti_vfc.xml
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Expand Up @@ -188,7 +188,7 @@
task="{mtc_task}"
/>
<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
<Action ID="SetupMTCMoveToPose" target_pose="{hole_object}" />
<Action ID="SetupMTCMoveToPoseProRRT" target_pose="{hole_object}" />
<Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}" />
<Action ID="ExecuteMTCTask" solution="{mtc_solution}" />
<Action
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1 change: 0 additions & 1 deletion ...moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml
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Expand Up @@ -35,7 +35,6 @@
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
joint_group_name="manipulator"
waypoint_name="Grasp Left"
planner_interface="moveit_all_planners"
constraints="{constraints}"
/>
</Decorator>
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2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_to_pose.xml
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Expand Up @@ -19,7 +19,7 @@
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="grasp_link"
planning_group_name="manipulator"
target_pose="{target_pose}"
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1 change: 0 additions & 1 deletion ...manipulation/mobile_manipulation_config/objectives/00_solution_-_move_to_initial_pose.xml
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Expand Up @@ -15,7 +15,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
</Control>
</BehaviorTree>
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1 change: 0 additions & 1 deletion ..._manipulation/mobile_manipulation_config/objectives/20_solution_-_look_at_the_airfoil.xml
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Expand Up @@ -12,7 +12,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
</Control>
</BehaviorTree>
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1 change: 0 additions & 1 deletion ...ile_manipulation/mobile_manipulation_config/objectives/21_solution_-_find_the_airfoil.xml
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Expand Up @@ -13,7 +13,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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1 change: 0 additions & 1 deletion ...ipulation/mobile_manipulation_config/objectives/22_solution_-_visualize_airfoil_frame.xml
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Expand Up @@ -16,7 +16,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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1 change: 0 additions & 1 deletion ...ipulation/mobile_manipulation_config/objectives/23_solution_-_airfoil_coverage_origin.xml
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Expand Up @@ -16,7 +16,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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1 change: 0 additions & 1 deletion ...anipulation/mobile_manipulation_config/objectives/24_solution_-_airfoil_coverage_path.xml
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Expand Up @@ -16,7 +16,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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1 change: 0 additions & 1 deletion ...pulation/mobile_manipulation_config/objectives/25_solution_-_execute_airfoil_coverage.xml
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Expand Up @@ -16,7 +16,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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1 change: 0 additions & 1 deletion ...bile_manipulation/mobile_manipulation_config/objectives/26_solution_-_better_coverage.xml
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Expand Up @@ -14,7 +14,6 @@
waypoint_name="Look at Airfoil"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
/>
<SubTree
ID="Estimate Object Pose"
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3 changes: 1 addition & 2 deletions ...t_pro_mobile_manipulation/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
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Expand Up @@ -15,12 +15,11 @@
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCMoveToPose"
ID="SetupMTCMoveToPoseProRRT"
ik_frame="grasp_link"
planning_group_name="manipulator"
target_pose="{target_pose}"
task="{move_to_pose_task}"
planner_interface="moveit_default"
/>
<Action
ID="PlanMTCTask"
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9 changes: 0 additions & 9 deletions src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/3_waypoint_pick_and_place.xml
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Expand Up @@ -15,7 +15,6 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<Action
Expand All @@ -33,7 +32,6 @@
waypoint_name="Pick Cube"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<Action
Expand All @@ -46,14 +44,12 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<SubTree
ID="Move to Waypoint"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
waypoint_name="Place Cube"
/>
Expand All @@ -67,7 +63,6 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
</Control>
Expand All @@ -78,7 +73,6 @@
waypoint_name="Place Cube"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<Action
Expand All @@ -91,15 +85,13 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<SubTree
ID="Move to Waypoint"
waypoint_name="Pick Cube"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
<Action
Expand All @@ -112,7 +104,6 @@
waypoint_name="Look at Table"
joint_group_name="manipulator"
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
planner_interface="moveit_default"
constraints="{constraints}"
/>
</Control>
Expand Down
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