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Updates to ML Objectives and MTC Parameters #205
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c190ca6
Update lever handle to use line segment version. Raise timeout on pus…
bb104a3
Update parameters to be more accurate.
009bcc4
Update params following behavior updates
4353848
Add new parameters to cabinet door mtc
3203269
Fixed parameters with new changes
5c83298
fix typo, wrap in force success following MTC changes
6e99215
Fix version change rebase issue, PR comments
880a2f6
Merge pull request #250 from PickNikRobotics/5.0-to-main-dont-squash
orensbruli fa091c0
Update ros2_robotiq_gripper version
6241cbf
Update camera sync behavior names (#219)
sea-bass f434982
Update take_snapshot to work with the new userClick behaviors. Update…
12f685c
Merge branch 'main' into ml-mtc-updates
860fecd
Modified objective to use other modular SetupMTC behaviors so we don'…
6a8cddb
Update ML Cabinet door objective to new MTC setup
8cc2b5d
Update camera stream topics to have /camera prefix and fix behavior t…
40ec179
This is what I meant in the last commit
b996b8e
Merge branch 'ml-mtc-updates' of github.com:PickNikRobotics/moveit_st…
42d6866
Reenable takeSnapshot in OpenCabinetDoor after hardware testing
c9231e1
fix getDoorHandle and fitLineSegment objectives to use a vector of po…
4061601
try to get behavor to work
pac48 dcb32d5
fix open_lever_handle_door ports
pac48 e3238f6
fix gazebo objectives
pac48 99e4fb1
revert deletion of subtrees
pac48 3ac4073
revert camera topic change
pac48 2b57302
revert more camera topics
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16 changes: 0 additions & 16 deletions
16
src/picknik_ur_gazebo_config/open_door_fixed_handle_MTC_config.yaml
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23 changes: 0 additions & 23 deletions
23
src/picknik_ur_gazebo_config/open_door_lever_handle_MTC_config.yaml
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21 changes: 10 additions & 11 deletions
21
src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,34 +1,33 @@ | ||
<?xml version="1.0" encoding="UTF-8"?> | ||
<?xml version='1.0' encoding='UTF-8'?> | ||
<root BTCPP_format="4" main_tree_to_execute="Detect Door Graspable Object"> | ||
<!-- ////////// --> | ||
<BehaviorTree ID="Detect Door Graspable Object" _description="Detects a door grapsable object from a depth image and gets a GraspableObject."> | ||
<BehaviorTree ID="Detect Door Graspable Object" _description="Segments out a door from an input depth image and attempts to fit an output GraspableObject."> | ||
<!-- TODO: need to be directly in front of door for this objective to work until GetGraspableObjectsFromMasks3D calculates the collision more robustly for non cuboid objects. --> | ||
<Control ID="Sequence" name="TopLevelSequence"> | ||
<!-- Get the point cloud from the wrist camera --> | ||
<Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/> | ||
<Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/> | ||
<Action ID="GetCameraInfo" topic_name="/camera/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/> | ||
<Action ID="GetPointCloud" topic_name="/camera/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/> | ||
<Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/> | ||
<Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" point_cloud_uuid="" pcd_topic="/pcd_pointcloud_captures"/> | ||
<Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/> | ||
<Action ID="GetImage" topic_name="/camera/wrist_mounted_camera/color/image_raw" message_out="{image}"/> | ||
<!-- Segment out 2D masks and then convert to 3D masks and visualize in UI --> | ||
<Action ID="GetMasks2DAction" image="{image}" action_name="get_masks_2d_maskrcnn" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0.05" max_relative_area="0.8" timeout_sec="10.0" masks2d="{masks2d}" valid_classes="{detection_classes}"/> | ||
<Action ID="GetMasks2DAction" image="{image}" action_name="get_masks_2d_maskrcnn" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0.05" max_relative_area="0.8" timeout_sec="15.0" masks2d="{masks2d}" valid_classes="{detection_classes}"/> | ||
<Action ID="GetMasks3DFromMasks2D" point_cloud="{point_cloud}" masks2d="{masks2d}" camera_info="{camera_info}" masks3d="{masks3d}"/> | ||
<Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}"> | ||
<Control ID="Sequence"> | ||
<Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/> | ||
<Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" point_cloud_uuid="" pcd_topic="/pcd_pointcloud_captures"/> | ||
</Control> | ||
</Decorator> | ||
<!-- Convert 3D mask into graspable object --> | ||
<Action ID="GetGraspableObjectsFromMasks3D" point_cloud="{point_cloud}" masks3d="{masks3d}" base_frame="world" plane_inlier_threshold="0.01" minimum_face_area="0.000625" face_separation_threshold="0.02" graspable_objects="{door_objects}"/> | ||
<!-- Convert 3D mask into graspable object, but as we don't need it for MTC --> | ||
<Decorator ID="ForceSuccess"> | ||
<Action ID="GetGraspableObjectsFromMasks3D" point_cloud="{point_cloud}" masks3d="{masks3d}" base_frame="world" plane_inlier_threshold="0.01" minimum_face_area="0.000625" face_separation_threshold="0.02" graspable_objects="{door_objects}"/> | ||
</Decorator> | ||
<Decorator ID="ForceSuccess"> | ||
<Decorator ID="ForEachGraspableObject" vector_in="{door_objects}" out="{door_object}"> | ||
<Action ID="AlwaysFailure"/> | ||
</Decorator> | ||
</Decorator> | ||
<!-- Add object to planning scene and return success --> | ||
<Action ID="ModifyObjectInPlanningScene" object="{door_object}" apply_planning_scene_service="/apply_planning_scene"/> | ||
<Action ID="LogMessage" message="Found a GraspableObject for the door." log_level="info"/> | ||
</Control> | ||
</BehaviorTree> | ||
</root> |
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I think this change was reverted with the realsense downgrade