Merge v2.3 to Main (#61)

* Add favorite objectives for the base, site, and gazebo site configurations (#55) * Update favorite objectives for the GZ simulation (#56) * Update favorite objectives for the GZ simulation * Favorite inspect surface * Bump versions to 2.3.0 (#57) * Remove old links, point users to public docs by default (#60)
PickNikRobotics · Jul 7, 2023 · f53b85d · f53b85d
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diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 This is a sample user workspace for running MoveIt Studio with a generic Universal Robots 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 [here.](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.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.
@@ -24,29 +24,4 @@ MoveIt Studio supports two types of site configuration packages, a base config a
 [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.
 
 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/config_package/config_package.html).
-
-## Beyond site configurations
-
-A custom site configuration is a great jumping off point for starting development with MoveIt Studio.
-
-We recommend reviewing the [online documentation](https://docs.picknik.ai/en/stable/) for more information on building Objectives, implementing custom Behaviors, and integrating peripherals into the MoveIt Studio application.
-
-# Launching a Mock Hardware Robot
-
-**This repository assumes you have followed the [installation instructions online](https://docs.picknik.ai/en/stable/getting_started/software_installation/software_installation.html).**
-If that is the case, follow [these instructions](https://docs.picknik.ai/en/stable/getting_started/configuring_moveit_studio/configuring_moveit_studio.html) for updating and running the configuration provided in this repository.
-
-Otherwise, it is left to the user to ensure that the prerequites from the installation process have been met.
-
-To manually launch MoveIt Studio with the default configuration provided by this workspace, specify this repository as the target `STUDIO_HOST_USER_WORKSPACE` in your MoveIt Studio configuration.
-By default, `STUDIO_HOST_USER_WORKSPACE` points to `$HOME/moveit_studio_ws`.
-If you have cloned this repository to a different location, then update the line to point to this workspace.
-
-Once that is done, from the root of the workspace run:
-
-`docker compose up`
-
-Wait a moment for the application to start, then open the Chrome browser and navigate to ``http://localhost``.
-
-You should be up and running with the default UR5e configuration!
+For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/).
diff --git a/src/moveit_studio_agent_examples/README.md b/src/moveit_studio_agent_examples/README.md
@@ -2,4 +2,4 @@
 
 Provides Scripts to interact with MoveIt Studio Agent API programmatically. 
 
-Please see the [Interact with the Objective Server Directly](https://docs.picknik.ai/en/stable/how_to/interact_with_the_objective_server_directly/interact_with_the_objective_server_directly.html) tutorial for more information on these scripts and their use.
+Please see the [getting started guides](https://docs.picknik.ai/en/stable/getting_started/getting_started.html) for more information on these scripts and their use.
diff --git a/src/moveit_studio_agent_examples/package.xml b/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>2.2.0</version>
+  <version>2.3.0</version>
   <description>Package containing scripts for interacting with MoveIt Studio Agent</description>
 
   <maintainer email="chance.cardona@picknik.ai">Chance Cardona</maintainer>

diff --git a/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_base_config/objectives/cycle_between_waypoints.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
   <root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
-    <BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure">
+    <BehaviorTree ID="Cycle Between Waypoints" _description="Cycles between two waypoints until failure" _favorite="true">
         <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"/>

diff --git a/src/picknik_ur_base_config/objectives/inspect_surface.xml b/src/picknik_ur_base_config/objectives/inspect_surface.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
-<root BTCPP_format="4" main_tree_to_execute="Inspect Surface">
-    <BehaviorTree ID="Inspect Surface" _description="Move the wrist camera to point towards a selected surface">
+<root BTCPP_format="4" main_tree_to_execute="Inspect Surface" _favorite="true">
+    <BehaviorTree ID="Inspect Surface" _description="Move the wrist camera to point towards a selected surface" _favorite="true">
         <Control ID="Sequence">
             <Action ID="InitializeMTCTask" task_id="inspect_surface" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>

diff --git a/src/picknik_ur_base_config/objectives/looping_pick_and_place_object.xml b/src/picknik_ur_base_config/objectives/looping_pick_and_place_object.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<root BTCPP_format="4" main_tree_to_execute="Looping Pick and Place Object">
+<root BTCPP_format="4" main_tree_to_execute="Looping Pick and Place Object" _favorite="true">
     <!-- ////////// -->
-    <BehaviorTree ID="Looping Pick and Place Object" _description="Repeatedly attempt to detect and grasp a cuboid from a target bin, and drop it in the target area." >
+    <BehaviorTree ID="Looping Pick and Place Object" _description="Repeatedly attempt to detect and grasp a cuboid from a target bin, and drop it in the target area." _favorite="true">
         <Control ID="Sequence">
             <Action ID="LoadObjectiveParameters" config_file_name="looping_pick_and_place_object_config.yaml" parameters="{parameters}"/>
 

diff --git a/src/picknik_ur_base_config/objectives/pick_object.xml b/src/picknik_ur_base_config/objectives/pick_object.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Pick Object">
-    <BehaviorTree ID="Pick Object" _description="Pick up and lift a small object">
+    <BehaviorTree ID="Pick Object" _description="Pick up and lift a small object" _favorite="true">
         <Control ID="Sequence" name="root">
             <SubTree ID="OpenGripper"/>
             <Action ID="GetPoseFromUser" parameter_name="pick_object.grasp_pose" parameter_value="{grasp_pose}" />

diff --git a/src/picknik_ur_base_config/objectives/push_button.xml b/src/picknik_ur_base_config/objectives/push_button.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Push Button">
-    <BehaviorTree ID="Push Button" _description="Push a button with the end effector">
+    <BehaviorTree ID="Push Button" _description="Push a button with the end effector" _favorite="true">
         <Control ID="Sequence">
             <Action ID="LoadObjectiveParameters" config_file_name="push_along_axis_config.yaml" parameters="{parameters}" />
             <SubTree ID="CloseGripper" />

diff --git a/src/picknik_ur_base_config/objectives/take_snapshot.xml b/src/picknik_ur_base_config/objectives/take_snapshot.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
   <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
     <!-- ////////// -->
-    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene">
+    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene" _favorite="true">
         <Control ID="Sequence">
             <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" />
             <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>

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>2.2.0</version>
+  <version>2.3.0</version>
 
   <description>Base config package for a UR5e that can be simulated with mock hardware</description>
 

diff --git a/src/picknik_ur_gazebo_config/README.md b/src/picknik_ur_gazebo_config/README.md
@@ -2,6 +2,4 @@
 
 A MoveIt Studio site configuration for a UR5e simulated in Gazebo, based on the `picknik_ur_base_config` package.
 
-This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, Behaviors, and Objectives on top of the UR5e base configuration specified in `site_config.yaml`.
-
 For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_gazebo_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
     <!-- ////////// -->
-    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly pick up a small object, place it at desired destination, and then navigate to specified waypoint until failure">
+    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly pick up a small object, place it at desired destination, and then navigate to specified waypoint until failure" _favorite="true">
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />

diff --git a/src/picknik_ur_gazebo_config/objectives/inspect_surface.xml b/src/picknik_ur_gazebo_config/objectives/inspect_surface.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Inspect Surface">
-    <BehaviorTree ID="Inspect Surface" _description="Move the wrist camera to point towards a selected surface">
+    <BehaviorTree ID="Inspect Surface" _description="Move the wrist camera to point towards a selected surface" _favorite="true">
         <Control ID="Sequence">
             <Action ID="InitializeMTCTask" task_id="inspect_surface" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>

diff --git a/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml b/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Cabinet Door">
-    <BehaviorTree ID="Open Cabinet Door" _description="Open a cabinet door by grasping and pulling its handle">
+    <BehaviorTree ID="Open Cabinet Door" _description="Open a cabinet door by grasping and pulling its handle" _favorite="true">
         <Control ID="Sequence" name="Setup">
             <Action ID="LoadObjectiveParameters" config_file_name="open_door_affordance_config.yaml" parameters="{parameters}" />
             <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_end" parameter_value="{hinge_axis_pose_end}" />

diff --git a/src/picknik_ur_gazebo_config/objectives/take_snapshot.xml b/src/picknik_ur_gazebo_config/objectives/take_snapshot.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
   <root BTCPP_format="4" main_tree_to_execute="Take Snapshot">
     <!-- ////////// -->
-    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene">
+    <BehaviorTree ID="Take Snapshot" _description="Take a point cloud snapshot and add to collision scene" _favorite="true">
         <Control ID="Sequence">
             <Action ID="GetPointCloud" target_point_cloud_topic="/wrist_mounted_camera/depth/color/points" uuid="{take_snapshot.uuid}" point_cloud="{point_cloud}" point_cloud_uuid="{request_uuid}" />
             <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>

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>2.2.0</version>
+  <version>2.3.0</version>
 
   <description>Site config package for the simulated UR5e in PickNik's space station world simulated by Gazebo.</description>
 

diff --git a/src/picknik_ur_site_config/README.md b/src/picknik_ur_site_config/README.md
@@ -2,6 +2,4 @@
 
 A MoveIt Studio site configuration for a UR5e based on the `picknik_ur_base_config` package.
 
-This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, Behaviors, and Objectives on top of the UR5e base configuration specified in `site_config.yaml`.
-
 For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)
diff --git a/src/picknik_ur_site_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_site_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
     <!-- ////////// -->
-    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure">
+    <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure" _favorite="true">
         <Control ID="Sequence">
             <!-- Clear snapshot, move to center pose, and open gripper -->
             <Action ID="ClearSnapshot" />

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>2.2.0</version>
+  <version>2.3.0</version>
 
   <description>Site config package for a UR5e that can be simulated with mock hardware</description>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,4 @@

		Provides Scripts to interact with MoveIt Studio Agent API programmatically.

		Please see the [Interact with the Objective Server Directly](https://docs.picknik.ai/en/stable/how_to/interact_with_the_objective_server_directly/interact_with_the_objective_server_directly.html) tutorial for more information on these scripts and their use.
		Please see the [getting started guides](https://docs.picknik.ai/en/stable/getting_started/getting_started.html) for more information on these scripts and their use.
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,6 +2,4 @@

		A MoveIt Studio site configuration for a UR5e simulated in Gazebo, based on the `picknik_ur_base_config` package.

		This package follows the required structure described in [Creating a New Site Config Package](https://docs.picknik.ai/en/stable/concepts/config_package/config_package.html#creating-a-new-site-config-package), and may be used to add environments, Behaviors, and Objectives on top of the UR5e base configuration specified in `site_config.yaml`.

		For further documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/)