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Clean up and improve lab_sim objectives #526
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121 changes: 121 additions & 0 deletions
121
src/lab_sim/objectives/scan_scene_-_multiple_point_clouds.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <root | ||
| BTCPP_format="4" | ||
| main_tree_to_execute="Scan Scene - Multiple Point Clouds" | ||
| > | ||
| <!--//////////--> | ||
| <BehaviorTree | ||
| ID="Scan Scene - Multiple Point Clouds" | ||
| _description="Take multiple snapshots from the wrist camera at 3 positions (center, left, right) using Cartesian offsets and merge them into a single point cloud." | ||
| _favorite="true" | ||
| > | ||
| <Control ID="Sequence"> | ||
| <!--Clear previous data--> | ||
| <SubTree ID="Clear Snapshot" _collapsed="true" /> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization" /> | ||
| <!--Move to center scan position and capture--> | ||
| <SubTree | ||
| ID="Move to Waypoint" | ||
| _collapsed="true" | ||
| joint_group_name="manipulator" | ||
| waypoint_name="Look at Table" | ||
| /> | ||
| <SubTree | ||
| ID="Add Point Cloud to Vector" | ||
| _collapsed="true" | ||
| point_cloud_vector="{point_cloud_vector}" | ||
| topic_name="/wrist_camera/points" | ||
| /> | ||
| <!--Cartesian move right from center and capture--> | ||
| <Action ID="ResetPoseStampedVector" vector="{cartesian_path}" /> | ||
| <Action | ||
| ID="CreateStampedPose" | ||
| reference_frame="grasp_link" | ||
| stamped_pose="{offset_pose}" | ||
| position_xyz="0.80;0;0" | ||
| /> | ||
| <Action | ||
| ID="AddPoseStampedToVector" | ||
| input="{offset_pose}" | ||
| vector="{cartesian_path}" | ||
| /> | ||
| <Action | ||
| ID="PlanCartesianPath" | ||
| acceleration_scale_factor="1.000000" | ||
| blending_radius="0.020000" | ||
| debug_solution="{debug_solution}" | ||
| ik_cartesian_space_density="0.010000" | ||
| ik_joint_space_density="0.100000" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| path="{cartesian_path}" | ||
| planning_group_name="manipulator" | ||
| position_only="false" | ||
| tip_links="grasp_link" | ||
| trajectory_sampling_rate="100" | ||
| velocity_scale_factor="1.000000" | ||
| /> | ||
| <Action ID="ExecuteTrajectory" /> | ||
| <SubTree | ||
| ID="Add Point Cloud to Vector" | ||
| _collapsed="true" | ||
| point_cloud_vector="{point_cloud_vector}" | ||
| topic_name="/wrist_camera/points" | ||
| /> | ||
| <!--Cartesian move from right directly to left and capture--> | ||
| <Action ID="ResetPoseStampedVector" vector="{cartesian_path}" /> | ||
| <Action | ||
| ID="CreateStampedPose" | ||
| reference_frame="grasp_link" | ||
| stamped_pose="{offset_pose}" | ||
| position_xyz="-1.60;0;0" | ||
| /> | ||
| <Action | ||
| ID="AddPoseStampedToVector" | ||
| input="{offset_pose}" | ||
| vector="{cartesian_path}" | ||
| /> | ||
| <Action | ||
| ID="PlanCartesianPath" | ||
| acceleration_scale_factor="1.000000" | ||
| blending_radius="0.020000" | ||
| debug_solution="{debug_solution}" | ||
| ik_cartesian_space_density="0.010000" | ||
| ik_joint_space_density="0.100000" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| path="{cartesian_path}" | ||
| planning_group_name="manipulator" | ||
| position_only="false" | ||
| tip_links="grasp_link" | ||
| trajectory_sampling_rate="100" | ||
| velocity_scale_factor="1.000000" | ||
| /> | ||
| <Action ID="ExecuteTrajectory" /> | ||
| <SubTree | ||
| ID="Add Point Cloud to Vector" | ||
| _collapsed="true" | ||
| point_cloud_vector="{point_cloud_vector}" | ||
| topic_name="/wrist_camera/points" | ||
| /> | ||
| <!--Merge all point clouds and display--> | ||
| <Action | ||
| ID="MergePointClouds" | ||
| grid_resolution_meters="0.010000" | ||
| merged_cloud="{merged_cloud}" | ||
| point_clouds="{point_cloud_vector}" | ||
| /> | ||
| <Action | ||
| ID="SendPointCloudToUI" | ||
| point_cloud="{merged_cloud}" | ||
| pcd_topic="/pcd_pointcloud_captures" | ||
| /> | ||
| </Control> | ||
| </BehaviorTree> | ||
| <TreeNodesModel> | ||
| <SubTree ID="Scan Scene - Multiple Point Clouds"> | ||
| <MetadataFields> | ||
| <Metadata subcategory="Perception - 3D Point Cloud" /> | ||
| <Metadata runnable="true" /> | ||
| </MetadataFields> | ||
| </SubTree> | ||
| </TreeNodesModel> | ||
| </root> |
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Was this an intentional change? I thought the new objects and grasp poses were allowing the stall torque setting to report grip success.
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yes, this was a sequence with 1 child, which was silly.
then i added force success because many times it would stall out even though it had a fine grip. i think the new medicine bottles i added are wider, so the previous numbers wouldn't work well for them
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I dont understand why the stall setting isn't triggering a success...maybe it is not working? https://github.com/PickNikRobotics/moveit_pro_example_ws/blob/main/src/lab_sim/config/control/picknik_ur.ros2_control.yaml#L93-L94
If we make this force success change as a bandaid for lab_sim training because perhaps underpowered systems are having mujoco perf problems, I am ok with that, but we should prob also reduce the timeout so people aren't waiting 15sec for a gripper call to end.
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Perhaps setting a non-default
stall_velocity_thresholdwill make the stall feature work? by default it is0.001and maybe we need it to be more like0.01See https://control.ros.org/humble/doc/ros2_controllers/gripper_controllers/doc/userdoc.html#gripper-action-controller
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Or perhaps we dont have the mujoco gripper configured to report velocity. I would do
ros2 topic echo /joint_statesand make sure there is a vel field for the robotiq_85_left_knuckle_jointThere was a problem hiding this comment.
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simplescreenrecorder-2026-03-11_15.08.17.mp4
I collected some plotjuggler data to see what is going on