Add Machine Tending Mock Hardware Configuration

src/picknik_ur_base_config/CONTRIBUTING.md → CONTRIBUTING.md

@@ -4,4 +4,4 @@ be under the 3-Clause BSD License, as dictated by that
 
 # Contributing to this Repository
 
-Thanks for getting involved! If you want to add to this base config, please reach out to [email protected]
+Thanks for getting involved! If you want to add to this repository, please reach out to [email protected].

README.md

@@ -1,27 +1,32 @@
 # MoveIt Studio Workspace
 
-This is a sample user workspace for running MoveIt Studio with a generic Universal Robots arm.
+This is a sample user workspace for running MoveIt Studio with a generic Universal Robots (UR) arm.
 For more information, refer to the [MoveIt Studio Documentation](https://docs.picknik.ai/).
 
 Instructions for building your own MoveIt Studio configuration can be found [in the getting started guides.](https://docs.picknik.ai/en/stable/getting_started/getting_started.html)
 
 MoveIt Studio can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim.
 For testing purposes, you can also use the [ROS 2 Control Mock Components](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html), which is what this repo is configured to use.
 
----
-## MoveIt Studio Configuration
-
-This package follows the recommended layout of a MoveIt Studio configuration package.
-Any configuration package or custom Behavior implementation can be included in the `src/` directory.
-Packages in `src/` will be compiled and sourced by MoveIt Studio at first launch.
+This workspace offers a reasonable starting point for those users looking to develop with MoveIt Studio using custom base and site configurations.
+For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/).
 
-### Concepts
+## Universal Robots Configuration Packages
 
-MoveIt Studio supports two types of site configuration packages, a base config and site config.
+This workspace contains several MoveIt Studio configuration packages for UR arms that inherit from each other for different applications.
 
-[Base configs](src/picknik_ur_base_config/README.md) are used to configure all of the system components that remain unchanged when deploying the robot to a new location.
+```mermaid
+graph TB
+Base[picknik_ur_base_config] --> Site[picknik_ur_site_config]
+Base --> Mock[picknik_ur_mock_hw_config]
+Site --> Gazebo[picknik_ur_gazebo_config]
+Site --> Picknik[Other PickNik configs]
+```
 
-[Site configs](src/picknik_ur_site_config/README.md) are used to override any parameters of the base configuration, or add additional features or constraints for a particular installation.
+Specifically:
 
-This workspace offers a reasonable starting point for those users looking to develop with MoveIt Studio using custom base and site configurations.
-For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/).
+* `picknik_ur_base_config` contains common configuration for all UR arms, real or simulated.
+* `picknik_ur_mock_hw_config` provides overrides for a machine tending application simulated using mock components (no physics).
+* `picknik_ur_site_config` extends the base configuration with capabilities for robots with physics and perception.
+* `picknik_ur_gazebo_config` extends the site configuration with support for the Gazebo simulator.
+* Other hardware-specific configurations, such as the ones used on PickNik's UR arms, inherit from `picknik_ur_site_config`.

src/moveit_studio_agent_examples/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>moveit_studio_agent_examples</name>
-  <version>2.4.0</version>
+  <version>2.5.0</version>
   <description>Package containing scripts for interacting with MoveIt Studio Agent</description>
 
   <maintainer email="[email protected]">Chance Cardona</maintainer>

src/picknik_ur_base_config/README.md

@@ -1,5 +1,5 @@
 # picknik_ur_base_config
 
-A MoveIt Studio base configuration for PickNik's UR5e simulation.
+A MoveIt Studio base configuration for PickNik's Universal Robots (UR) arms.
 
 For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)

src/picknik_ur_base_config/config/config.yaml

@@ -35,7 +35,7 @@ hardware:
 
   # The robot's IP address.
   # [Required]
-  ip: "!!! Please set the IP address of the robot"
+  ip: "0.0.0.0"
 
   # Specify additional launch files for running the robot with real hardware.
   # [Optional, defaults to a blank launch file if not specified]

src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml

@@ -5,28 +5,28 @@
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />
-            <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+            <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
             <!-- Keep executing the pick and place sequence until failure -->
             <Decorator ID="KeepRunningUntilFailure">
                 <Control ID="Sequence">
                     <!-- Pick object from "Grab", put it down at "Place", and go back to center pose -->
                     <Control ID="Sequence">
-                        <Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
-                        <Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
+                        <Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                     </Control>
                     <!-- Pick object from "Place", put it down at "Grab", and go back to center pose -->
                     <Control ID="Sequence">
-                        <Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Place Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
-                        <Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
+                        <Action ID="MoveToJointState" waypoint_name="Pick Block" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                     </Control>
                 </Control>
             </Decorator>

src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml

@@ -3,8 +3,8 @@
     <BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure">
         <Decorator ID="KeepRunningUntilFailure">
             <Control ID="Sequence">
-                <Action ID="MoveToJointState" waypoint_name="Right Corner" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
-                <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                <Action ID="MoveToJointState" waypoint_name="Right Corner" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
+                <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
             </Control>
         </Decorator>
     </BehaviorTree>

src/picknik_ur_base_config/objectives/move_to_joint_state.xml

@@ -3,7 +3,7 @@
     <BehaviorTree ID="Move to Joint State" _description="Single-node behavior to move to a specified joint state">
         <Control ID="Sequence">
             <Action ID="GetStringFromUser" parameter_name="move_to_joint_state.waypoint_name" parameter_value="{waypoint_name}" />
-            <Action ID="MoveToJointState" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planning_group_name="manipulator" waypoint_name="{waypoint_name}" />
+            <Action ID="MoveToJointState" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planning_group_name="manipulator" waypoint_name="{waypoint_name}" use_all_planners="true"/>
         </Control>
     </BehaviorTree>
 </root>

src/picknik_ur_base_config/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_base_config</name>
-  <version>2.4.0</version>
+  <version>2.5.0</version>
 
-  <description>Base config package for a UR5e that can be simulated with mock hardware</description>
+  <description>Base configuration package for Picknik's UR robot arms</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>
 

src/picknik_ur_gazebo_config/LICENSE

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml

@@ -5,28 +5,28 @@
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />
-            <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+            <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
             <!-- Keep executing the pick and place sequence until failure -->
             <Decorator ID="KeepRunningUntilFailure">
                 <Control ID="Sequence">
                     <!-- Pick object from "Pick", put it down at "Place", and go back to center pose -->
                     <Control ID="Sequence">
-                        <Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
-                        <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
+                        <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                     </Control>
                     <!-- Pick object from "Place", put it down at "Pick", and go back to center pose -->
                     <Control ID="Sequence">
-                        <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Place" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
-                        <Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
+                        <Action ID="MoveToJointState" waypoint_name="Pick" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                         <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/>
-                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller"/>
+                        <Action ID="MoveToJointState" waypoint_name="Look at Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="true"/>
                     </Control>
                 </Control>
             </Decorator>

src/picknik_ur_gazebo_config/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_config</name>
-  <version>2.4.0</version>
+  <version>2.5.0</version>
 
-  <description>Site config package for the simulated UR5e in PickNik's space station world simulated by Gazebo.</description>
+  <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 
   <maintainer email="[email protected]">MoveIt Studio Maintainer</maintainer>
 

src/picknik_ur_mock_hw_config/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.22)
+project(picknik_ur_mock_hw_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY
+    config
+    description
+    meshes
+    objectives
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()