Catalogue of Demo Programs and Tutorials

This page provides a list of the demo programs and programming tutorials for the Task Trees framework.

List of Demo Programs and Tutorials

The following table summarizes the features of each major demo programs or program suites in the /demo folder.

Folder	Name	Application Programming Model	Remarks
gridscan	Pattern Scan in a Grid	Standalone, procedural, non-interactive
pickndrop	Pick N Drop	Standalone, state transition machine	Repeat indefintely
pickndrop_estop	Pick N Drop with Estop	Standalone, state transition machine	Pressing EStop aborting all behaviours and the task, EStop as a separate ROS node
pushblock	Push a Block between Channels	Standalone, loop with interactive input	Repeat indefintely
pushblock_ros	Push a Block between Channels with ROS Client	ROS Server-Client, loop with interactive input in the client	Using ROS Action Goal

The following demo programs based on only the pre-defined behaviour classes of the task tree SDK and the py_trees Python behaviour trees module.

Folder	Name	Application Programming Model	Remarks
pytrees_move	Simple movements	Standalone, procedural, repeat indefinitely	Based on PyTrees
pytrees_move_scene	Simple movements with logical scene definitions	Standalone, procedural, repeat indefinitely	Based on PyTrees

The following demo programs based on the task tree manager class TaskTreesManager and pre-defined behaviour classes of the task tree SDK.

Folder	Name	Application Programming Model	Remarks
simple_move	Simple movements	Standalone, procedural, repeat indefinitely	Based on TaskTreesManager
simple_move_scene	Simple movements with logical scene definitions	Standalone, procedural, repeat indefinitely	Based on TaskTreesManager
task_moves	Task based movement	Standalone, procedural, repeat indefinitely	Based on TaskTreesManager

Overview of the Demo Programs

Pattern Scan in a Grid (gridscan)

The gridscan application simulates the operation of an end-effector working over a grid surface inside a shallow tank. The end-effector moves between grid cells inside the tank according to a program and moves back to a home pose. During the operation, the end-effector changes the orientation while moving to different parts ot the tank.

Go to README of the Demo Program

Pick N Drop (pickndrop)

The pick-n-drop application simulates the operation of discovery of a sphere on a desktop, picking it up to disposing it to a bin. The operation will run indefinitely as the simulator creates new spheres at random locations.

Go to README of the Demo Program

Pick N Drop with Estop (pickndrop_estop)

This demo program is an extension of the pick-n-drop application that simulates the operation of discovery of a sphere on a desktop, picking it up to disposing it to a bin. It shows how to use the GuardedTaskTreesManager to implement a guard triggered by an EStop button.

Go to README of the Demo Program

Push a Block between Channels (pushblock)

The push-block application simulates a block being moved between 4 side channels involving the end-effector moving into the cavities. The application operates interactively, receiving the target side channel as the destination of the block. The interactive mode can be replaced with the destination randomly drawn.

Go to README of the Demo Program

Push a Block between Channels with ROS Client (pushblock_ros)

This demo program is an extension of the push-block application that simulates a block being moved between 4 side channels involving the end-effector moving into the cavities. The application is now restructured as a client-server ROS design.

Go to README of the Demo Program

Programming Tutorials

Py-Trees

• Tutorial: Instant-Use Move Behaviours with PyTrees

• # Tutorial: Instant-Use Move Behaviours with PyTrees and Logical Scene

Task Trees

• Tutorial: Instant-Use Move Behaviours with Task Trees

• Tutorial: Instant-Use Move Behaviours, Task Trees, and Logical Scene

• Tutorial: Tasks Specification and Execution with Task Trees Manager

Demo Animation of the Task Move 4 Example