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mobile_manipulation_config: revisit favorites #16

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Nov 25, 2024
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="00 Solution - Move to Initial Pose"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="00 Solution - Move to Initial Pose"
_description="Move to a pre-defined waypoint"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="01 Solution - Create a Pose">
<!--//////////-->
<BehaviorTree
ID="01 Solution - Create a Pose"
_description="Creates a pose relative to a frame"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="02 Solution - Visualize a Pose">
<!--//////////-->
<BehaviorTree
ID="02 Solution - Visualize a Pose"
_description="Creates a pose and visualizes it"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="03 Solution - Pose 2m above the robot"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="03 Solution - Pose 2m above the robot"
_description="Creates a visualizes a pose 2m right above the robot 'base_link'"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="05 Solution - Define a path">
<!--//////////-->
<BehaviorTree
ID="05 Solution - Define a path"
_description="Creates a simple path with two waypoints"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="06 Solution - Visualize a path">
<!--//////////-->
<BehaviorTree
ID="06 Solution - Visualize a path"
_description="How to visualize a path"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="07 Solution - Plan motion for a path"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="07 Solution - Plan motion for a path"
_description="Given a path, plans the motion for the robot joints"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="08 Solution - Execute path plan">
<!--//////////-->
<BehaviorTree
ID="08 Solution - Execute path plan"
_description="Plans joint-space motion to track a path, and executes it"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="09 Solution - An infeasible path">
<!--//////////-->
<BehaviorTree
ID="09 Solution - An infeasible path"
_description="An example of a path that is not feasible"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="10 Solution - Visualize path error"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="10 Solution - Visualize path error"
_description="How to visualize what's going on with an infeasible path"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="12 Solution - Constrain orientation"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="12 Solution - Constrain orientation"
_description="How to constrain end-effector orientation along paths"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="13 Solution - Load a path from file"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="13 Solution - Load a path from file"
_description="Loads a complex path from a file, and visualizes it"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action ID="LoadPoseStampedVectorFromYaml" file_path="path.yaml" />
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="15 Solution - A path that collides"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="15 Solution - A path that collides"
_description="An example of a path kinematically feasible, but colliding"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="16 Solution - Checking for collisions"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="16 Solution - Checking for collisions"
_description="How to check if a plan will collide"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="17 Solution - Execute the feasible path"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="17 Solution - Execute the feasible path"
_description=""
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="18 Solution - Define a coverage path"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="18 Solution - Define a coverage path"
_description="Automatically creates a path to cover a rectangular area"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="19 Solution - Execute coverage path"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="19 Solution - Execute coverage path"
_description="Executes a coverage path"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="20 Solution - Look at the airfoil">
<!--//////////-->
<BehaviorTree
ID="20 Solution - Look at the airfoil"
_description="Move to a pre-defined waypoint that looks towards the airfoil"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="21 Solution - Find the airfoil">
<!--//////////-->
<BehaviorTree
ID="21 Solution - Find the airfoil"
_description="Estimate the pose of an airfoil using ICP"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="22 Solution - Visualize airfoil frame"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="22 Solution - Visualize airfoil frame"
_description="Estimate the pose of an airfoil and visualize its origin frame"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="23 Solution - Airfoil Coverage Origin"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="23 Solution - Airfoil Coverage Origin"
_description="Estimate the pose of an airfoil and set the origin to define a coverage area"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="24 Solution - Airfoil Coverage Path"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="24 Solution - Airfoil Coverage Path"
_description="Estimate the pose of an airfoil and define a coverage path"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root
BTCPP_format="4"
main_tree_to_execute="25 Solution - Execute Airfoil Coverage"
@@ -7,7 +6,7 @@
<BehaviorTree
ID="25 Solution - Execute Airfoil Coverage"
_description="Estimate the pose of an airfoil, define a coverage path and execute it"
_favorite="true"
_favorite="false"
_hardcoded="false"
>
<Control ID="Sequence" name="TopLevelSequence">
Original file line number Diff line number Diff line change
@@ -1,10 +1,9 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
<!--//////////-->
<BehaviorTree
ID="Take Snapshot"
_description="Take a point cloud snapshot and add to collision scene"
_favorite="true"
_favorite="false"
>
<Control ID="Sequence">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" />