Merge pull request #172 from PickNikRobotics/merge-3.0.0-to-main

Merge 3.0.0 to main
PickNikRobotics · Jan 11, 2024 · 85b5f78 · 85b5f78
2 parents 07fb299 + eb8c0f2
commit 85b5f78
Show file tree

Hide file tree

Showing 36 changed files with 147 additions and 142 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -51,4 +51,4 @@ jobs:
           colcon test
       - if: always()
         run: |
-          colcon test-result
+          colcon test-result --verbose
diff --git a/.gitignore b/.gitignore
@@ -2,3 +2,5 @@
 build/
 install/
 log/
+
+**__pycache__
diff --git a/README.md b/README.md
@@ -1,9 +1,9 @@
-# MoveIt Studio Workspace
+# MoveIt Studio Workspace for Universal Robots Arms
 
 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)
+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.
@@ -21,6 +21,7 @@ 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]
+Gazebo --> ScanAndPlan[picknik_ur_gazebo_scan_and_plan_config]
 ```
 
 Specifically:
@@ -29,4 +30,5 @@ Specifically:
 * `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.
+* `picknik_ur_gazebo_scan_and_plan_config` extends the Gazebo configuration with an alternate environment for 3D object scanning.
 * Other hardware-specific configurations, such as the ones used on PickNik's UR arms, inherit from `picknik_ur_site_config`.
diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_base_config</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
 
   <description>Base configuration package for Picknik's UR robot arms</description>
 

diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag1_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag1_grasp_offset.yaml
@@ -1,8 +1,10 @@
 GraspOffset:
-  x: -0.1
-  y: 0.0
-  z: 0.05
-  qx: 0.707
-  qy: -0.707
-  qz: 0.0
-  qw: 0.0
+  position:
+    x: -0.1
+    y: 0.0
+    z: 0.05
+  orientation:
+    x: 0.707
+    y: -0.707
+    z: 0.0
+    w: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml
@@ -1,8 +1,10 @@
 GraspOffset:
-  x: -0.1
-  y: 0.0
-  z: 0.05
-  qx: 0.707
-  qy: -0.707
-  qz: 0.0
-  qw: 0.0
+  position:
+    x: -0.1
+    y: 0.0
+    z: 0.05
+  orientation:
+    x: 0.707
+    y: -0.707
+    z: 0.0
+    w: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml
@@ -1,8 +1,10 @@
 GraspOffset:
-  x: -0.1
-  y: 0.0
-  z: 0.05
-  qx: 0.707
-  qy: -0.707
-  qz: 0.0
-  qw: 0.0
+  position:
+    x: -0.1
+    y: 0.0
+    z: 0.05
+  orientation:
+    x: 0.707
+    y: -0.707
+    z: 0.0
+    w: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml b/src/picknik_ur_gazebo_config/objectives/close_cabinet_door.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />

diff --git a/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml b/src/picknik_ur_gazebo_config/objectives/push_along_axis_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"

diff --git a/src/picknik_ur_gazebo_config/objectives/push_button.xml b/src/picknik_ur_gazebo_config/objectives/push_button.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />

diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml b/src/picknik_ur_gazebo_config/objectives/push_button_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"

diff --git a/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml b/src/picknik_ur_gazebo_config/objectives/push_button_ml.xml
@@ -43,8 +43,7 @@
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
-                    min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />

diff --git a/src/picknik_ur_gazebo_config/objectives/teach_apriltag_grasp_offset.xml b/src/picknik_ur_gazebo_config/objectives/teach_apriltag_grasp_offset.xml
@@ -6,7 +6,7 @@
             <SubTree ID="Sample April Tag" num_samples="5" tag_id="1" apriltag_config="apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
             <Action ID="TransformPoseFrame" input_pose="{tag_pose}" target_frame_id="world" output_pose="{tag_pose_world}"/>
             <Action ID="CalculatePoseOffset" source_pose="{tag_pose_world}" destination_pose="{user_grasp_pose}" source_to_destination_pose="{tag_to_user_grasp_pose}"/>
-            <Action ID="WritePoseToYAML" yaml_filename="apriltag1_grasp_offset" namespace="GraspOffset" pose="{tag_to_user_grasp_pose}"/>
+            <Action ID="SavePoseToYaml" yaml_filename="apriltag1_grasp_offset" namespace="GraspOffset" message="{tag_to_user_grasp_pose}"/>
         </Control>
     </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_gazebo_config/package.xml b/src/picknik_ur_gazebo_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_config</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
 
   <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 

diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/package.xml b/src/picknik_ur_gazebo_scan_and_plan_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_scan_and_plan_config</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
 
   <description>Site configuration package for the UR5e simulated in Gazebo to show "scan and plan" applications.</description>
 

diff --git a/src/picknik_ur_mock_hw_config/package.xml b/src/picknik_ur_mock_hw_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_mock_hw_config</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
 
   <description>Configuration package for a UR arm that can be simulated with mock hardware</description>
 

diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="close_cabinet_door.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{close_cabinet_door_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="1.5" min_distance="0.05" parameters="{parameters}" task="{close_cabinet_door_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{close_cabinet_door_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />                
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{close_cabinet_door_task}" />
                 <Action ID="PlanMTCTask" solution="{full_close_cabinet_door_solution}" task="{close_cabinet_door_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_close_cabinet_door_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />

diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door_affordance.xml
@@ -14,12 +14,12 @@
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_end" parameter_value="{hinge_axis_pose_end}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_start" parameter_value="{hinge_axis_pose_start}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.grasp_pose" parameter_value="{grasp_pose}" />
-            <Action ID="GetHingeAxisFromSurfaceSelection" grasp_pose="{grasp_pose}" hinge_axis_pose_end="{hinge_axis_pose_end}" hinge_axis_pose_start="{hinge_axis_pose_start}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" target_grasp_pose="{grasp_pose}" />
+            <Action ID="GetMoveAlongArcSubframes" grasp_pose="{grasp_pose}" hinge_axis_pose_end="{hinge_axis_pose_end}" hinge_axis_pose_start="{hinge_axis_pose_start}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" target_grasp_pose="{grasp_pose}" />
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.0" />
             <Control ID="Sequence" name="OpenDoorAffordanceMain">
                 <Action ID="InitializeMTCTask" task_id="open_door_affordance" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_door_affordance_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCAffordanceTemplate" grasp_pose="{grasp_pose}" name="SetupMTCOpenDoorAffordance" parameters="{parameters}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" task="{open_door_affordance_task}" />
+                <Action ID="SetupMTCGraspThenMoveAlongArcPull" grasp_pose="{grasp_pose}" name="SetupMTCOpenDoorAffordance" parameters="{parameters}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" task="{open_door_affordance_task}" />
                 <Action ID="PlanMTCTask" solution="{open_door_affordance_solution}" task="{open_door_affordance_task}" />
             	<SubTree ID="Wait for Trajectory Approval if User Available" solution="{open_door_affordance_solution}"/>
                 <!-- Whether task execution succeeds or fails, reset the controllers to disable admittance control. -->

diff --git a/src/picknik_ur_site_config/objectives/open_cabinet_door_ml.xml b/src/picknik_ur_site_config/objectives/open_cabinet_door_ml.xml
@@ -39,7 +39,7 @@
                 grasp_pose="{detected_grasp_pose}"
                 hinge_axis_pose_start="{hinge_axis_pose_start}"
                 hinge_axis_pose_end="{hinge_axis_pose_end}" />
-            <Action ID="GetHingeAxisFromSurfaceSelection"
+            <Action ID="GetMoveAlongArcSubframes"
                 target_grasp_pose="{detected_grasp_pose}"
                 hinge_axis_pose_end="{hinge_axis_pose_end}"
                 hinge_axis_pose_start="{hinge_axis_pose_start}"
@@ -54,7 +54,7 @@
                     controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
                     task="{open_door_affordance_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCAffordanceTemplate"
+                <Action ID="SetupMTCGraspThenMoveAlongArcPull"
                     name="SetupMTCOpenDoorAffordance"
                     grasp_pose="{affordance_grasp_pose}"
                     parameters="{parameters}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
@@ -29,7 +29,7 @@
                     controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
                     task="{open_lever_handle_door_task}" />
                 <Action ID="SetupMTCCurrentState" task="{open_lever_handle_door_task}" />
-                <Action ID="SetupMTCOpenLeverHandleDoor" handle_length="{handle_length}"
+                <Action ID="SetupMTCGraspAndTwistThenMoveAlongArcPush" handle_length="{handle_length}"
                     handle_pose="{handle_pose}" handle_z_offset="{handle_z_offset}"
                     parameters="{parameters}" task="{open_lever_handle_door_task}" />
                 <Action ID="PlanMTCTask" solution="{open_lever_handle_door_solution}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_config.yaml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_config.yaml
@@ -4,7 +4,7 @@ GetDoorHandle:
   # e.g. "world", is typically the right choice.
   door_handle_pose_frame_name: world
 
-SetupMTCOpenLeverHandleDoor:
+SetupMTCGraspAndTwistThenMoveAlongArcPush:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   ik_frame_name: "grasp_link"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml.xml
@@ -41,7 +41,7 @@
             <Control ID="Sequence" name="OpenLeverHandleDoor">
                 <Action ID="InitializeMTCTask" task_id="open_lever_handle_door_ml" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_lever_handle_door_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{open_lever_handle_door_task}"/>
-                <Action ID="SetupMTCOpenLeverHandleDoor"
+                <Action ID="SetupMTCGraspAndTwistThenMoveAlongArcPush"
                     handle_pose="{handle_pose}"
                     handle_length="{length}"
                     handle_z_offset="{height}"

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml_config.yaml b/src/picknik_ur_site_config/objectives/open_lever_handle_door_ml_config.yaml
@@ -1,4 +1,4 @@
-SetupMTCOpenLeverHandleDoor:
+SetupMTCGraspAndTwistThenMoveAlongArcPush:
   arm_group_name: "manipulator"
   end_effector_group_name: "gripper"
   ik_frame_name: "grasp_link"

diff --git a/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml b/src/picknik_ur_site_config/objectives/push_along_axis_config.yaml
@@ -1,8 +1,3 @@
-SetupMTCMoveAlongFrameAxis:
-  arm_group_name: "manipulator"
-  hand_frame_name: "manual_grasp_link"
-  velocity_acceleration_scaling_factor: 0.05
-
 AllowGripperCollisionWithOctomap:
   group_name: "gripper"
   object_name: "<octomap>"

diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
@@ -12,7 +12,7 @@
                 <Action ID="GetPoseFromUser" parameter_name="push_button.target_pose" parameter_value="{target_pose}" />
                 <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{push_button_task}" use_all_planners="false"/>
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2" min_distance="0.05" parameters="{parameters}" task="{push_button_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_button_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="0.2" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{push_button_task}" />
                 <Action ID="PlanMTCTask" solution="{full_push_button_solution}" task="{push_button_task}"/>
                 <Action ID="SplitMTCSolution" solution_in="{full_push_button_solution}" index="3" solution_out_1="{move_to_approach_solution}" solution_out_2="{push_solution}" />

diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -43,8 +43,7 @@
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="AllowGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />
-                <Action ID="SetupMTCMoveAlongFrameAxis" axis="z" max_distance="0.2"
-                    min_distance="0.05" parameters="{parameters}" task="{push_along_axis_task}" />
+                <Action ID="SetupMTCMoveAlongFrameAxis" task="{push_along_axis_task}" hand_frame="manual_grasp_link" axis_frame="manual_grasp_link" axis_x="0.0" axis_y="0.0" axis_z="1.0" max_distance="1.5" min_distance="0.05" planning_group_name="manipulator" velocity_scale="0.05" acceleration_scale="0.05" />
                 <Action ID="SetupMTCUpdateGroupCollisionRule"
                     name="ForbidGripperCollisionWithOctomap" parameters="{parameters}"
                     task="{push_along_axis_task}" />

diff --git a/src/picknik_ur_site_config/package.xml b/src/picknik_ur_site_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_site_config</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
 
   <description>Site configuration package for a UR arm that can be simulated with mock hardware</description>
 

diff --git a/src/picknik_ur_studio_integration_testing/package.xml b/src/picknik_ur_studio_integration_testing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>picknik_ur_studio_integration_testing</name>
-  <version>2.11.0</version>
+  <version>3.0.0</version>
   <description>Integration tests for UR with MoveIt Studio.</description>
   <maintainer email="studio.maintainers@picknik.ai">MoveIt Studio Maintainer</maintainer>
 

diff --git a/...g/picknik_ur_studio_integration_testing/generate_agent_plus_drivers_launch_description.py b/...g/picknik_ur_studio_integration_testing/generate_agent_plus_drivers_launch_description.py
@@ -42,11 +42,9 @@
     DeclareLaunchArgument,
     ExecuteProcess,
     IncludeLaunchDescription,
-    RegisterEventHandler,
     TimerAction,
 )
 from launch.conditions import IfCondition
-from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.some_substitutions_type import SomeSubstitutionsType
 from launch.substitutions import (
@@ -81,7 +79,7 @@ def generate_agent_plus_drivers_launch_description(
 
     # Get path to test objective directory defined within this repo
     test_objective_path = Path(
-        get_package_share_directory("moveit_studio_integration_testing"),
+        get_package_share_directory("picknik_ur_studio_integration_testing"),
         "test",
         "objectives",
     )
@@ -110,7 +108,7 @@ def generate_agent_plus_drivers_launch_description(
 
     # Get path to test objective directory defined within this repo
     test_objective_path = Path(
-        get_package_share_directory("moveit_studio_integration_testing"),
+        get_package_share_directory("picknik_ur_studio_integration_testing"),
         "test",
         "objectives",
     )
-Original file line number
+Diff line change
@@ Expand Up / @@ -2,3 +2,5 @@ @@
     build/
     install/
     log/
+    **__pycache__