Merge pull request #285 from PickNikRobotics/pr-tutorial1-improvements

Use correct term for picked objects: beaker -> flask

Author: sjahr

src/lab_sim/objectives/constrained_pick_place.xml

@@ -1,16 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Move Beakers to Burners">
+<root BTCPP_format="4" main_tree_to_execute="Move Flasks to Burners">
   <!--//////////-->
   <BehaviorTree
-    ID="Move Beakers to Burners"
+    ID="Move Flasks to Burners"
     _description="Example of picking and placing objects with orientation constraints enforced on the arm's motion"
     _favorite="true"
   >
     <Control ID="Sequence">
       <SubTree
         ID="Move to Waypoint"
         _collapsed="true"
-        waypoint_name="Beaker 1a - Pre Pick"
+        waypoint_name="Flask 1a - Pre Pick"
         joint_group_name="manipulator"
         controller_names="/joint_trajectory_controller"
         velocity_scale_factor="1.0"
@@ -24,32 +24,32 @@
       <SubTree ID="Open Gripper" />
       <SubTree
         ID="Constrained Pick and Place Subtree"
-        pre_pick="Beaker 1a - Pre Pick"
-        pick="Beaker 1b - Pick"
-        pre_place="Beaker 1c - Pre Place"
-        place="Beaker 1d - Place"
-        name="Beaker 1"
+        pre_pick="Flask 1a - Pre Pick"
+        pick="Flask 1b - Pick"
+        pre_place="Flask 1c - Pre Place"
+        place="Flask 1d - Place"
+        name="Flask 1"
       />
       <SubTree
         ID="Constrained Pick and Place Subtree"
-        pre_pick="Beaker 2a - Pre Pick"
-        pick="Beaker 2b - Pick"
-        pre_place="Beaker 2c - Pre Place"
-        place="Beaker 2d - Place"
-        name="Beaker 2"
+        pre_pick="Flask 2a - Pre Pick"
+        pick="Flask 2b - Pick"
+        pre_place="Flask 2c - Pre Place"
+        place="Flask 2d - Place"
+        name="Flask 2"
       />
       <SubTree
         ID="Constrained Pick and Place Subtree"
-        pre_pick="Beaker 3a - Pre Pick"
-        pick="Beaker 3b - Pick"
-        pre_place="Beaker 3c - Pre Place"
-        place="Beaker 3d - Place"
-        name="Beaker 3"
+        pre_pick="Flask 3a - Pre Pick"
+        pick="Flask 3b - Pick"
+        pre_place="Flask 3c - Pre Place"
+        place="Flask 3d - Place"
+        name="Flask 3"
       />
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Move Beakers to Burners">
+    <SubTree ID="Move Flasks to Burners">
       <MetadataFields>
         <Metadata subcategory="Application - Advanced Examples" />
         <Metadata runnable="true" />

src/lab_sim/objectives/record_square_trajectory.xml

@@ -33,7 +33,7 @@
             keep_orientation_tolerance="0.05"
             link_padding="0.01"
             velocity_scale_factor="1.0"
-            waypoint_name="Beaker 3a - Pre Pick"
+            waypoint_name="Flask 3a - Pre Pick"
           />
           <Action
             ID="CallTriggerService"

src/lab_sim/waypoints/ur_waypoints.yaml

@@ -40,7 +40,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 1d - Place
+  name: Flask 1d - Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -83,7 +83,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 3c - Pre Place
+  name: Flask 3c - Pre Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -126,7 +126,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 1b - Pick
+  name: Flask 1b - Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -255,7 +255,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 2c - Pre Place
+  name: Flask 2c - Pre Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -298,7 +298,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 1c - Pre Place
+  name: Flask 1c - Pre Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -341,7 +341,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 2b - Pick
+  name: Flask 2b - Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -384,7 +384,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 2d - Place
+  name: Flask 2d - Place
 - description: ''
   favorite: false
   joint_group_names:
@@ -470,7 +470,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 3d - Place
+  name: Flask 3d - Place
 - description: Move out of view of scene camera
   favorite: false
   joint_group_names:
@@ -599,7 +599,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 3b - Pick
+  name: Flask 3b - Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -642,7 +642,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 3a - Pre Pick
+  name: Flask 3a - Pre Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -814,7 +814,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 1a - Pre Pick
+  name: Flask 1a - Pre Pick
 - description: ''
   favorite: false
   joint_group_names:
@@ -900,7 +900,7 @@
     transforms: []
     twist: []
     wrench: []
-  name: Beaker 2a - Pre Pick
+  name: Flask 2a - Pre Pick
 - description: ''
   favorite: false
   joint_group_names: