# rSkill manifest — moveit-eef-pose: plan to a Cartesian end-effector pose (ADR-0052)
#
# Wraps `moveit_msgs/action/MoveGroup`. `ros_integration.goal_builder: pose`
# selects the `PoseGoalRskill` adapter, which consumes a `pose` block (target
# position + quaternion orientation for a constrained link) and lowers it into
# MoveGroup position + orientation constraints. The generic Cartesian sibling
# of rskill-moveit-look-at (gaze is a computed-pose specialisation); new under
# ADR-0052's rskill-moveit-* family.
#
# Collision posture: MoveIt's internal FCL planner does self + planning-scene
# (world) collision checking at plan time. `plan_only: true` so OpenRAL's
# per-waypoint replay through /openral/candidate_action stays the only
# actuation path (the safety kernel checks every step). `chunk_size: 1` so the
# supervisor sees every waypoint.

schema_version: "0.1"
name: "OpenRAL/rskill-moveit-eef-pose"
version: "0.1.0"
license: "apache-2.0"
role: "s1"
kind: "ros_action"

# Any arm embodiment with a MoveIt configuration. The default goal targets the
# Franka demo (panda_arm group, panda_hand link); other embodiments override
# `request.group_name` + `pose.link_name` / `pose.frame_id`.
embodiment_tags:
  - "franka_panda"
  - "ur5e"
  - "ur10e"
  - "so100_follower"
  - "openarm"
  - "rizon4"
  - "sawyer"
  - "widowx"

actuators_required:
  - kind: "joint_position"
    control_mode_semantics:
      mode: "absolute"

# REQUIRED for kind: ros_action — one waypoint per Action chunk so the safety
# supervisor's per-row envelope check sees every commanded position.
chunk_size: 1

latency_budget:
  per_chunk_ms: 2000.0

# ADR-0022 — surfaced to the Reasoner LLM tool palette.
description: >
  Plan and execute a collision-free motion that brings the end-effector link to
  a target 6-DOF Cartesian pose (position + orientation) via MoveIt's MoveGroup
  (self + planning-scene collision checked). Use when you have a Cartesian
  end-effector goal (e.g. a pre-grasp pose); for a joint-space goal use
  rskill-moveit-joints, and to aim a camera at a point use rskill-moveit-look-at.
actions:
  - "reach"
objects: []
scenes: []

# Provenance — ROS-wrapped rSkill; paper_url carries the upstream link.
paper_url: "https://moveit.picknik.ai/"

ros_integration:
  package: "moveit_msgs"
  interface_type: "MoveGroup"
  interface_name: "/move_action"
  result_trajectory_field: "planned_trajectory.joint_trajectory"
  # ADR-0052 — selects the PoseGoalRskill goal-lowering adapter: the `pose`
  # block below is lowered into `request.goal_constraints[0]` (position +
  # orientation constraints) on the first step. Set `pose.tool_frame` to express
  # the target for a TCP/tool frame (TF-looked-up link←tool offset); omit it to
  # constrain `pose.link_name` directly.
  goal_builder: "pose"
  default_goal_json: |
    {
      "pose": {
        "frame_id": "panda_link0",
        "link_name": "panda_hand",
        "position": [0.4, 0.0, 0.5],
        "orientation": [0.0, 0.0, 0.0, 1.0],
        "quaternion_order": "xyzw",
        "position_tolerance_m": 0.01,
        "orientation_tolerance_rad": 0.05
      },
      "request": {
        "group_name": "panda_arm",
        "num_planning_attempts": 5,
        "allowed_planning_time": 5.0,
        "max_velocity_scaling_factor": 0.3,
        "max_acceleration_scaling_factor": 0.3,
        "goal_constraints": []
      },
      "planning_options": {
        "plan_only": true,
        "replan": false
      }
    }
  ros_dependencies:
    - "ros-${ROS_DISTRO}-moveit"
    - "ros-${ROS_DISTRO}-moveit-resources-panda-moveit-config"

# ADR-0026 — per-skill JSON Schema surfaced to the Reasoner LLM tool palette.
# The LLM overrides the pose block's position/orientation; planner settings are
# inherited. orientation is a quaternion in pose.quaternion_order (default xyzw).
goal_params_schema:
  type: object
  description: >
    Target 6-DOF Cartesian pose for the end-effector link. position is
    [x, y, z] metres in pose.frame_id; orientation is a unit quaternion whose
    component order is pose.quaternion_order (default "xyzw").
  properties:
    pose:
      type: object
      properties:
        position:
          type: array
          items:
            type: number
          minItems: 3
          maxItems: 3
          description: "Target [x, y, z] metres in pose.frame_id."
        orientation:
          type: array
          items:
            type: number
          minItems: 4
          maxItems: 4
          description: "Unit quaternion in pose.quaternion_order (default xyzw)."
      required:
        - position
        - orientation
  required:
    - pose