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Updating objectives with comments for the record and playback objective #71

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merged 1 commit into from
Jan 2, 2025
Merged

Updating objectives with comments for the record and playback objective #71

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10 changes: 7 additions & 3 deletions src/lab_sim/objectives/add_waypoints_to_mtc_task.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,15 @@
ID="Add Waypoints to MTC Task"
_subtreeOnly="true"
_description=""
joint_group_name="manipulator"
planner_interface="moveit_default"
mtc_task="{mtc_task}"
>
<Control ID="Sequence">
<Action
ID="RetrieveWaypoint"
waypoint_joint_state="{target_joint_state}"
waypoint_name="Above Pick Cube"
waypoint_name="Look at Table"
joint_group_name="{joint_group_name}"
/>
<Action
Expand All @@ -24,7 +27,7 @@
<Action
ID="RetrieveWaypoint"
waypoint_joint_state="{target_joint_state}"
waypoint_name="Above Place Cube"
waypoint_name="Workspace Right"
joint_group_name="{joint_group_name}"
/>
<Action
Expand All @@ -40,10 +43,11 @@
<TreeNodesModel>
<SubTree ID="Add Waypoints to MTC Task">
<input_port name="joint_group_name" default="manipulator" />
<inout_port name="mtc_task" default="{mtc_task}" />
<input_port name="planner_interface" default="moveit_default" />
<inout_port name="mtc_task" default="{mtc_task}" />
<MetadataFields>
<Metadata subcategory="Application - Basic Examples" />
<Metadata runnable="false" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
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