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Fix: lab_sim Tutorial 1 walk-through bugs #634

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Fix: lab_sim Tutorial 1 walk-through bugs #634

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41a01e9
fix(lab_sim): Tutorial 1 walk-through fixes
rlpratt12 May 15, 2026
20bce2f
fix(lab_sim): Remove warm-up velocity_force_controller block
rlpratt12 May 15, 2026
6fd0512
Merge branch 'main' into fix/lab-sim-tutorial-bugs
rlpratt12 May 19, 2026
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5 changes: 5 additions & 0 deletions src/lab_sim/objectives/ml_find_objects_on_table.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,11 @@
bounding_box_labels="{confidence_scores_str}"
image="{wrist_camera_image}"
/>
<!--Auto-switch a view pane to the masks visualization so users can immediately see the output.-->
<Action
ID="SwitchUIPrimaryView"
primary_view_name="/masks_visualization"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
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139 changes: 50 additions & 89 deletions src/lab_sim/objectives/pick_all_bottles_with_apriltags.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -123,39 +123,6 @@
<SubTree ID="Look at Table" _collapsed="true" />
<SubTree ID="Take Wrist Camera Snapshot" _collapsed="true" />
</Control>
<!--Warm up velocity_force_controller so the first placement is not a cold start-->
<Control ID="Sequence" _collapsed="false">
<Action
ID="SwitchController"
activate_controllers="velocity_force_controller"
controller_switch_action_name="/controller_manager/switch_controller"
timeout="-1.000000"
activate_asap="true"
strictness="1"
controller_list_action_name="/controller_manager/list_controllers"
automatic_deactivation="true"
automatic_activation="true"
deactivate_controllers=""
/>
<Action
ID="CallTriggerService"
service_name="/velocity_force_controller/zero_fts"
response_timeout="3.000000"
wait_for_server_available_timeout="3.000000"
/>
<Action
ID="SwitchController"
activate_controllers="joint_trajectory_admittance_controller"
controller_switch_action_name="/controller_manager/switch_controller"
timeout="-1.000000"
activate_asap="true"
strictness="1"
controller_list_action_name="/controller_manager/list_controllers"
automatic_deactivation="true"
automatic_activation="true"
deactivate_controllers=""
/>
</Control>
<Decorator ID="ForceSuccess" _collapsed="false">
<Decorator ID="KeepRunningUntilFailure" _collapsed="false">
<Control ID="Sequence" name="TopLevelSequence" _collapsed="false">
Expand Down Expand Up @@ -369,62 +336,56 @@
name="Release and Retract"
_collapsed="false"
>
<Control ID="Sequence" _collapsed="false">
<Control ID="Sequence" _collapsed="false">
<Control ID="Sequence" _collapsed="false">
<!--Release the bottle-->
<SubTree ID="Open Gripper" _collapsed="true" />
<!--Retract upward after releasing the bottle-->
<Action
ID="CreatePoseStamped"
reference_frame="grasp_link"
pose_stamped="{place_retract_pose}"
position_xyz="0;0;-0.08"
orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
/>
<Action
ID="ResetPoseStampedVector"
vector="{place_retract_path}"
/>
<Action
ID="AddPoseStampedToVector"
input="{place_retract_pose}"
vector="{place_retract_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="{place_retract_path}"
planning_group_name="manipulator"
position_only="true"
tip_links="grasp_link"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
max_optimizer_iterations="1"
tip_offset="0.000000;0.000000;0.000000;0.000000;0.000000;0.000000"
/>
<Action
ID="ExecuteTrajectory"
goal_duration_tolerance="-1.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
execution_pipeline="jtac"
/>
<!--Remove the used pose so the next iteration gets a fresh position-->
<Action
ID="RemoveFromVector"
input_vector="{place_positions}"
index="0"
output_vector="{place_positions}"
/>
</Control>
</Control>
</Control>
<!--Release the bottle-->
<SubTree ID="Open Gripper" _collapsed="true" />
<!--Retract upward after releasing the bottle-->
<Action
ID="CreatePoseStamped"
reference_frame="grasp_link"
pose_stamped="{place_retract_pose}"
position_xyz="0;0;-0.08"
orientation_xyzw="0.000000;0.000000;0.000000;1.000000"
/>
<Action
ID="ResetPoseStampedVector"
vector="{place_retract_path}"
/>
<Action
ID="AddPoseStampedToVector"
input="{place_retract_pose}"
vector="{place_retract_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="{place_retract_path}"
planning_group_name="manipulator"
position_only="true"
tip_links="grasp_link"
trajectory_sampling_rate="100"
velocity_scale_factor="1.000000"
max_optimizer_iterations="1"
tip_offset="0.000000;0.000000;0.000000;0.000000;0.000000;0.000000"
/>
<Action
ID="ExecuteTrajectory"
goal_duration_tolerance="-1.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
execution_pipeline="jtac"
/>
<!--Remove the used pose so the next iteration gets a fresh position-->
<Action
ID="RemoveFromVector"
input_vector="{place_positions}"
index="0"
output_vector="{place_positions}"
/>
</Control>
</Control>
</Decorator>
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