Setup behavior tree scene. #1065

calvertdw · 2025-10-27T16:18:53Z

No description provided.

ds58 · 2025-10-27T17:36:16Z

...vel-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/scene/BehaviorTreeSceneState.java

+public class BehaviorTreeSceneState
+{
+
+   private final ArrayList<ReferenceFrame> robotFrames = new ArrayList<>();


make the API use List pls

calvertdw · 2025-10-29T16:37:06Z

ihmc-communication/src/main/java/us/ihmc/communication/crdt/CRDTDetachableReferenceFrame.java

   private final DetachableReferenceFrame detachableReferenceFrame;

-   public CRDTDetachableReferenceFrame(ReferenceFrameLibrary referenceFrameLibrary,
+   public CRDTDetachableReferenceFrame(Function<String, ReferenceFrame> frameFunction,


Deleted ReferenceFrameLibrary, had to use functions in a few places to keep things working.

calvertdw · 2025-10-29T16:37:46Z

ihmc-graphics/src/libgdx/java/us/ihmc/rdx/imgui/ImGuiReferenceFrameLibraryCombo.java

 * It also includes any values that the user already might have and keeps those around
 * even if deselected. Also, this is done immediate mode style.
+ *
+ * TODO: Fix up with new design. Probably rename to be less general, like RDXBehaviorSceneFrameSelector...


Tbh, this class does work pretty well. Maybe will leave it alone for now

calvertdw · 2025-10-29T16:38:06Z

ihmc-graphics/src/libgdx/java/us/ihmc/rdx/ui/gizmo/RDXPose3DGizmo.java

+      renderableAdapter = panel3D.getScene().addRenderableProvider(this, RDXSceneLevel.VIRTUAL);
+   }
+
+   public void destroyDefault(RDX3DPanel panel3D)


Added destroy to gizmo.

calvertdw · 2025-10-29T16:39:10Z

...ehaviors/src/libgdx/java/us/ihmc/rdx/behaviorTree/actions/RDXFootstepPlanActionFootstep.java

         }

-         RDXCRDTTools.syncGizmoWithBidirectionalField(getGizmo(), definition.getSoleToPlanFrameTransform(), definition.getFreezable());
+         RDXCRDTTools.syncGizmoWithBidirectionalField(getGizmo(), definition.getSoleToPlanFrameTransform(), footstepPlan.getDefinition());


This was some cleanup of spaghetti code

calvertdw · 2025-10-29T16:41:51Z

...haviors/src/main/java/us/ihmc/behaviors/behaviorTree/control/door/DoorTraversalExecutor.java

I cleanup up the logic in this class to prepare for the new version.

calvertdw · 2025-10-29T16:42:48Z

...-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/scene/BehaviorTreeSceneExecutor.java

This is a work in progress, but I thought it would be good to get all the boilerplate merged in.

calvertdw · 2025-10-29T16:43:43Z

...vel-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/scene/BehaviorTreeSceneState.java

This contains a replacement for what ReferenceFrameLibrary did.

calvertdw · 2025-10-29T16:44:37Z

ihmc-interfaces/src/main/generated-java/behavior_msgs/msg/dds/BehaviorTreeStateMessage.java

   public long next_id_;
   /**
-            * The timestamp and modifer ID of the most recent time the root node was replaced or removed
+            * The timestamp and modifier ID of the most recent time the root node was replaced or removed


I found a typo that got copied everywhere so I fixed it.

calvertdw · 2025-10-29T16:45:09Z

ihmc-perception/src/main/java/us/ihmc/perception/detections/yolo/YOLOv8DetectionThread.java

+   public YOLOv8DetectionExecutor getYoloExecutor()
+   {
+      return yoloExecutor;
+   }


@TomaszTB Needed to access the executor.

calvertdw · 2025-10-29T16:45:44Z

...-toolkit/src/main/java/us/ihmc/robotics/referenceFrames/ReferenceFrameDynamicCollection.java

Deleted ReferenceFrameDynamicCollection.

calvertdw · 2025-10-29T16:45:49Z

ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/referenceFrames/ReferenceFrameLibrary.java

Deleted ReferenceFrameLibrary.

… Novdember 2025 (#1121) * alex teleop * ghost robot * fixed a weird constructor in OpenAlexanderRobotModel * tracker roles * disable kst server * Got local logging working and tuned the realsense and height map for real world testing (#1063) * Settup logging to work on both the high and low level process, fixed a couple of bugs in the starting, and naming of the thing * This shouldn't be a hard coded value, neesds to be the cell size from the parameters * Shrink height map to reduce networking lag * Adjust realsense transform, adjust local logging for testing * Tested more of the logging onboard. Update is either the server, or the intraprocess logger, not both. Optimized the IntraprocessYoVariableLogger so now the longest part is compressing the data before it gets written to disk * Fix gradle deploy, remove link in warning prints * Fix VR finger streaming. --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: VR-OCU <lpenco@ihmc.org> * Setup behavior tree scene. (#1065) * added a getter (#1069) * Fix sync feedback loop bug with footstep plan action interactables. (#1070) * minor null check in multi thread factory * undo robot model stuff * remove artifcats from merge * remove artifcats * tuned kst * fixes pr * Revert "remove artifcats from merge" This reverts commit ca073ed. * fix with develop * Update OpenAlexanderMomentumOptimizationSettings.java * Bugfix/fix pelvis rotation on delays (#1106) * started working on a fix for pelvis rotationd elays * rolled back on how the time in the phase is found, and started adding a decay factor so the feedforward values dont go to the moon * fixed a bound inclusiveness problem * added some changes to prefer previous reachable regions to yield more… (#1105) * added some changes to prefer previous reachable regions to yield more consistent, smoother results * reverted line change --------- Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com> * remove yaw component from angular velocity filtering of the foot (#1107) Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com> * add a filter for big downward forces on the second threshold (#1108) Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com> * [Feature] CSG Heartbeat (#1104) * Make ROS2HeartbeatMonitor garbage free * Add heartbeats to CSG objects * Added destroy method to CSGROS2CommunicationHelper and cleaned up usage in the panel --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com> * Add null check to ImageSensor * Bugfix/fix capture region and rate limit (#1110) * fixed the reachability constraint return * properly reset the feedback conditions for the ICP feedback * Feature/rdx buttons (#1111) * set up the buttons for whether the steps are adjustable * added a swing height slider to rdx * Remaking the demopose branch for some conflict reason (#1118) Co-authored-by: Alexander OCU <rosie@ihmc.org> * Intraprocess logger safety (#1114) * Fix Ability hand VR rotator streaming. * Catch exception in intraprocess writer compression thread and also check that the directory is usable * Minor * Minor * Revert thing * Switch CountDownLatch to object wait/notify --------- Co-authored-by: Duncan Calvert <dcalvert@ihmc.us> Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org> * Fix the infinite loop with the height map in the controlller, cleaned up the UI for RDX with CSG, and removed a duplicate updater. (#1116) * Fix Ability hand VR rotator streaming. * Fix the bugs with the CSG and the height map, and more * made csg rdx panel buttons for snapping to heightmap and accounting for ground height drift/footstep z error --------- Co-authored-by: Duncan Calvert <dcalvert@ihmc.us> Co-authored-by: ihmc-rosie <rosie@ihmc.us> Co-authored-by: Alexander OCU <rosie@ihmc.org> * upped the icp distance threshold for falling * Feature/height map noise hacking (#1119) * Add option to parameters to tune the minimum acceptable depth values * Tuned value * Update transform and parameter for swing --------- Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org> * Added an option to log a full resolution heartbeat for the depth image (#1120) Co-authored-by: nkitchel <nkitchel@ihmc.org> * Revert "Added an option to log a full resolution heartbeat for the depth image (#1120)" This reverts commit 2cdb895. * Add destroy method to the AvatarStepGeneratorThread --------- Co-authored-by: Luigi Penco <lpenco@ihmc.org> Co-authored-by: Alexander OCU <rpeterson@ihmc.org> Co-authored-by: ihmc-rosie-windows <rosie@ihmc.org> Co-authored-by: Duncan Calvert <dcalvert@ihmc.org> Co-authored-by: Robert Griffin <rgriffin@ihmc.us> Co-authored-by: LuigiPenco <161648875+LuigiPenco93@users.noreply.github.com> Co-authored-by: Tomasz Bialek <103042423+TomaszTB@users.noreply.github.com> Co-authored-by: ihmc-rosie <rosie@ihmc.us> Co-authored-by: ds58 <30220598+ds58@users.noreply.github.com> Co-authored-by: Duncan Calvert <dcalvert@ihmc.us>

calvertdw changed the base branch from develop to feature/bt-root-node October 27, 2025 16:20

ds58 reviewed Oct 27, 2025

View reviewed changes

calvertdw force-pushed the feature/behavior-scene branch from 87ab3ba to 674891c Compare October 27, 2025 18:44

Base automatically changed from feature/bt-root-node to develop October 27, 2025 19:34

calvertdw force-pushed the feature/behavior-scene branch 3 times, most recently from 8f69836 to e47bf8e Compare October 29, 2025 00:11

calvertdw and others added 20 commits October 29, 2025 11:29

Removed scene graph from autonomy process. WIP.

cb58819

Create BehaviorTreeScene.

946214a

Some stuff.

9fbd31f

Getting the boilerplate for the BehaviorTreeScene in place.

35396ff

A lot more boilerplate setup for the behavior tree scene.

0fccf09

Uncomment code in door and ai2r and connect it to scene.

ee831ab

Add TODO.

a4c4ff7

Pass in foundationPose.

2166614

Fix NPE. Add scene panel.

06833c2

Delete ReferenceFrameLibrary.

a51b3b9

Add PersistentDetection.

48d0dcd

Add mustard.

635875b

Place unplace mustard on RDX side.

6fcdd4e

Use IsaacROSFoundationPoseCommunicatorMap.

dd8a33a

Simplify logic.

a785a38

Setup scene sync messages.

60c6a84

Implement behavior scene object synchronization.

bccd17f

Get mustard relative behavior going.

55f88c5

Fix add/remove mustard UI.

243b7af

Checkbox to toggle object selection.

16660bf

calvertdw force-pushed the feature/behavior-scene branch from 3893472 to 16660bf Compare October 29, 2025 16:32

ArrayList -> List

7e10d74

calvertdw marked this pull request as ready for review October 29, 2025 16:34

calvertdw requested a review from LuigiPenco93 October 29, 2025 16:35

calvertdw commented Oct 29, 2025

View reviewed changes

ihmc-robotics-toolkit/src/main/java/us/ihmc/robotics/referenceFrames/ReferenceFrameLibrary.java

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calvertdw Oct 29, 2025

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Deleted ReferenceFrameLibrary.

calvertdw requested a review from TomaszTB October 29, 2025 16:46

calvertdw changed the title ~~Setup BehaviorTreeScene Infrastructure~~ Setup behavior tree scene. Oct 29, 2025

TomaszTB approved these changes Oct 29, 2025

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LuigiPenco93 approved these changes Oct 30, 2025

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ds58 self-requested a review October 30, 2025 18:52

ds58 approved these changes Oct 30, 2025

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calvertdw merged commit 7b46569 into develop Oct 30, 2025
61 of 67 checks passed

calvertdw deleted the feature/behavior-scene branch October 30, 2025 19:20

ihmc-rosie pushed a commit that referenced this pull request Oct 30, 2025

Setup behavior tree scene. (#1065)

3e2708e

Setup behavior tree scene. #1065

Setup behavior tree scene. #1065

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calvertdw commented Oct 27, 2025

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