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MikeWrockMikeWrock
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Merge branch 'main' into improve_lab_sim_examples
2 parents 651cc2c + 9b7a5f9 commit 07fd3b3

36 files changed

+19906
-36439
lines changed

‎Dockerfile‎

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@@ -10,13 +10,14 @@ ARG MOVEIT_STUDIO_BASE_IMAGE
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ARG USERNAME=studio-user
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ARG USER_UID=1000
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ARG USER_GID=1000
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ARG BASE=base
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##################################################
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# Starting from the specified MoveIt Pro release #
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##################################################
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# The image tag is specified in the argument itself.
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# hadolint ignore=DL3006
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FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
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FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-base
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# Create a non-root user
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ARG USERNAME
@@ -49,18 +50,20 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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/home/${USERNAME}/.ros && \
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chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
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# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
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# To do this you must
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# 1. Uncomment the ENV and RUN entries below
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# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
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# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
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# ENV DEBIAN_FRONTEND=noninteractive
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# RUN apt update && apt install -y software-properties-common
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# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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# --mount=type=cache,target=/var/lib/apt,sharing=locked \
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# add-apt-repository ppa:graphics-drivers/ppa && \
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# apt update && apt upgrade -y && apt install -y nvidia-driver-555
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FROM base-base AS base-nvidia
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ARG NVIDIA_DRIVER_PACKAGE
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ENV DEBIAN_FRONTEND=noninteractive
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# hadolint ignore=DL3008
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RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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add-apt-repository ppa:graphics-drivers/ppa && \
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apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends "${NVIDIA_DRIVER_PACKAGE}"
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ARG BASE
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# hadolint ignore=DL3006
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FROM base-${BASE} AS base
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# Install additional dependencies
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# You can also add any necessary apt-get install, pip install, etc. commands at this point.
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# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.

‎docker-compose.yaml‎

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@@ -0,0 +1,30 @@
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# Docker Compose file that will be merged with /opt/moveit_pro/docker-compose.yaml.
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# For more details on how merging works, see https://docs.docker.com/compose/how-tos/multiple-compose-files/merge/#merging-rules.
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# Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
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# Feel free to remove services here that are unmodified.
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services:
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# The base image that all MoveIt Pro services extend off of. Builds the user workspace.
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base:
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build:
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# List any arguments for building the user workspace here.
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args:
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# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
13+
# To do this you must
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# 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
15+
# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
16+
# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
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# - BASE=nvidia
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# - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555
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# Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
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agent_bridge:
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# Starts the robot drivers.
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drivers:
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# Starts the web UI frontend.
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web_ui:
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# Developer specific configuration when running `moveit_pro dev`.
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dev:

‎src/lab_sim/objectives/add_waypoints_to_mtc_task.xml‎

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Original file line numberDiff line numberDiff line change
@@ -5,12 +5,15 @@
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ID="Add Waypoints to MTC Task"
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_subtreeOnly="true"
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_description=""
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joint_group_name="manipulator"
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planner_interface="moveit_default"
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mtc_task="{mtc_task}"
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>
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<Control ID="Sequence">
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<Action
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ID="RetrieveWaypoint"
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waypoint_joint_state="{target_joint_state}"
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waypoint_name="Above Pick Cube"
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waypoint_name="Look at Table"
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joint_group_name="{joint_group_name}"
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/>
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<Action
@@ -24,7 +27,7 @@
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<Action
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ID="RetrieveWaypoint"
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waypoint_joint_state="{target_joint_state}"
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waypoint_name="Above Place Cube"
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waypoint_name="Workspace Right"
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joint_group_name="{joint_group_name}"
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/>
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<Action
@@ -40,10 +43,11 @@
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<TreeNodesModel>
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<SubTree ID="Add Waypoints to MTC Task">
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<input_port name="joint_group_name" default="manipulator" />
43-
<inout_port name="mtc_task" default="{mtc_task}" />
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<input_port name="planner_interface" default="moveit_default" />
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<inout_port name="mtc_task" default="{mtc_task}" />
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<MetadataFields>
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<Metadata subcategory="Application - Basic Examples" />
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<Metadata runnable="false" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>

‎src/lab_sim/objectives/apriltag_pick_object.xml‎

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Original file line numberDiff line numberDiff line change
@@ -1,3 +1,4 @@
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<?xml version="1.0" encoding="utf-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Pick April Tag Labeled Object">
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<!--//////////-->
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<BehaviorTree
@@ -21,11 +22,13 @@
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ID="GetCameraInfo"
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topic_name="/wrist_camera/camera_info"
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message_out="{camera_info}"
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timeout_sec="5.000000"
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/>
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<Action
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ID="GetImage"
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topic_name="/wrist_camera/color"
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message_out="{image}"
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timeout_sec="5.000000"
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/>
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<SubTree
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ID="Get AprilTag Pose from Image"
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target_pose="{view_pose}"
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move_to_pose_solution="{move_to_pose_solution}"
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/>
50-
<Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
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<Action
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ID="ExecuteMTCTask"
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solution="{move_to_pose_solution}"
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goal_duration_tolerance="-1.000000"
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/>
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<SubTree
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ID="Get AprilTag Pose from Image"
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image="{image}"
@@ -66,26 +73,36 @@
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<Action
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ID="LoadObjectiveParameters"
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config_file_name="pick_object_config.yaml"
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parameters="{parameters}"
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/>
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<Action
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ID="InitializeMTCTask"
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task_id="pick_object"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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task="{pick_object_task}"
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/>
76-
<Action ID="SetupMTCCurrentState" task="{pick_object_task}" />
84+
<Action
85+
ID="SetupMTCCurrentState"
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task="{pick_object_task}"
87+
skip_collision_check="false"
88+
/>
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<Action
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ID="SetupMTCPickObject"
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grasp_pose="{offset_pose}"
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task="{pick_object_task}"
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parameters="{parameters}"
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monitored_stage="current state"
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/>
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<Action
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ID="PlanMTCTask"
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solution="{pick_object_solution}"
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task="{pick_object_task}"
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/>
88-
<Action ID="ExecuteMTCTask" solution="{pick_object_solution}" />
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<Action
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ID="ExecuteMTCTask"
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solution="{pick_object_solution}"
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goal_duration_tolerance="-1.000000"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>

‎src/lab_sim/objectives/create_pose_vector.xml‎

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vector="{target_poses}"
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input="{stamped_pose}"
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/>
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<Action
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ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
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position_xyz="0.75;0.5;0.9"
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stamped_pose="{stamped_pose}"
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/>
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<Action
28-
ID="AddPoseStampedToVector"
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vector="{target_poses}"
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input="{stamped_pose}"
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/>
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<Action
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ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
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vector="{target_poses}"
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input="{stamped_pose}"
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/>
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<Action
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ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
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position_xyz="0.25;0.5;0.7"
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stamped_pose="{stamped_pose}"
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/>
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<Action
50-
ID="AddPoseStampedToVector"
51-
vector="{target_poses}"
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input="{stamped_pose}"
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/>
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<Action
55-
ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
57-
position_xyz="0;0.5;0.6"
58-
stamped_pose="{stamped_pose}"
59-
/>
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<Action
61-
ID="AddPoseStampedToVector"
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vector="{target_poses}"
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input="{stamped_pose}"
64-
/>
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<Action
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ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
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vector="{target_poses}"
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input="{stamped_pose}"
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/>
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<Action
77-
ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"
79-
position_xyz="-0.5;0.5;0.8"
80-
stamped_pose="{stamped_pose}"
81-
/>
82-
<Action
83-
ID="AddPoseStampedToVector"
84-
vector="{target_poses}"
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input="{stamped_pose}"
86-
/>
87-
<Action
88-
ID="CreateStampedPose"
89-
orientation_xyzw="0;-1;0;0"
90-
position_xyz="-0.75;0.5;0.9"
91-
stamped_pose="{stamped_pose}"
92-
/>
93-
<Action
94-
ID="AddPoseStampedToVector"
95-
vector="{target_poses}"
96-
input="{stamped_pose}"
97-
/>
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<Action
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ID="CreateStampedPose"
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orientation_xyzw="0;-1;0;0"

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