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Update create_pose_vector.xml to use proper blackboard value #9

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Update create_pose_vector.xml to use proper blackboard value #9

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b41e963
Update create_pose_vector.xml to use proper blackboard value
bgill92 Nov 18, 2024
4fd927b
Make precommit happy
bgill92 Nov 18, 2024
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9 changes: 9 additions & 0 deletions src/lab_sim/objectives/create_pose_vector.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -19,6 +20,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -28,6 +30,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -37,6 +40,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -46,6 +50,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -55,6 +60,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -64,6 +70,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -73,6 +80,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
<Action
ID="CreateStampedPose"
Expand All @@ -82,6 +90,7 @@
<Action
ID="AddPoseStampedToVector"
vector="{target_poses}"
input="{pose_stamped}"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 5 additions & 5 deletions src/lab_sim/objectives/pick_up_cube.xml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Pick up Cube">
<!--//////////-->
<BehaviorTree ID="Pick up Cube" _description="" _favorite="false">
<Control ID="Sequence" name="TopLevelSequence">
<SubTree ID="Clear Snapshot" _collapsed="true"/>
<SubTree ID="Look at table" _collapsed="true"/>
<SubTree ID="Clear Snapshot" _collapsed="true" />
<SubTree ID="Look at table" _collapsed="true" />
<!--Take a snapshot so we have a visualization of the cubes to use in grasp pose correction-->
<SubTree ID="Wrist camera snapshot" _collapsed="true"/>
<SubTree ID="Pick object" _collapsed="false"/>
<SubTree ID="Wrist camera snapshot" _collapsed="true" />
<SubTree ID="Pick object" _collapsed="false" />
</Control>
</BehaviorTree>
</root>
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