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4ac13b0 2e9e257 4ac13b0 2e9e257 4f89684 2e9e257 4ac13b0 2e9e257 4f89684 2e9e257 4ac13b0 2e9e257 4ac13b0 2e9e257 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 | # rSkill manifest — moveit-joints: plan to a joint configuration
#
# Wraps `moveit_msgs/action/MoveGroup`. `ros_integration.goal_builder: joint`
# selects the `JointGoalRskill` adapter, which consumes a `joint` block
# (`joint_names` + `positions`) and lowers it into a MoveGroup
# `joint_constraints` goal — the clean, LLM-facing form (positions, not
# hand-written constraint dicts). Renamed from `openral/rskill-moveit-plan-arm`
# as part of the `rskill-moveit-*` family (-joints / -eef-pose / -look-at
# over one ROSActionRskill engine).
#
# 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); move_group never drives
# its own controllers. `chunk_size: 1` so the supervisor sees every waypoint.
schema_version: "0.1"
name: "OpenRAL/rskill-moveit-multi-joints"
version: "0.1.0"
license: "apache-2.0"
role: "s1"
kind: "ros_action"
# Every arm embodiment OpenRAL ships a robot.yaml for. Whether a deployment can
# resolve this skill depends on whether a matching MoveIt config is running and
# whether the `joint` block below is correct for that robot's planning group.
# The Franka `panda_arm` group is the canonical example; for other embodiments
# copy this manifest and edit `joint.joint_names` + `request.group_name`.
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
# Planning is slow on the first call (MoveIt typically 0.5–2 s on a clean
# scene); subsequent step() calls just dequeue cached waypoints.
latency_budget:
per_chunk_ms: 2000.0
# Surfaced to the Reasoner LLM tool palette.
description: >
Plan and execute a collision-free motion to a target JOINT configuration via
MoveIt's MoveGroup (self + planning-scene collision checked). Provide one
target angle per planning-group joint. Defaults target the Franka Panda home
pose; override the manifest to retarget. Use when you have a joint-space goal
(e.g. a policy's in-distribution starting pose); for a Cartesian end-effector
target use rskill-moveit-multi-eef_pose instead.
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"
# `MoveGroup.Result.planned_trajectory.joint_trajectory` is reordered into the
# host RobotDescription.joints order before per-waypoint chunk emission.
result_trajectory_field: "planned_trajectory.joint_trajectory"
# Selects the JointGoalRskill goal-lowering adapter: the `joint`
# block below (joint_names + positions) is lowered into
# `request.goal_constraints[0].joint_constraints` at configure time.
goal_builder: "joint"
# Franka Panda home pose (panda_arm group). For other embodiments override
# `joint.joint_names` + `request.group_name`.
default_goal_json: |
{
"joint": {
"joint_names": ["panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4", "panda_joint5", "panda_joint6", "panda_joint7"],
"positions": [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785],
"position_tolerance_rad": 0.001
},
"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"
# Per-skill JSON Schema surfaced to the Reasoner LLM tool palette.
# The LLM overrides only `joint.positions` (one per planning-group joint, in
# the manifest's joint_names order); planner / tolerance defaults are inherited.
goal_params_schema:
type: object
description: >
Target joint positions for MoveIt's MoveGroup against the planning group.
Provide one entry per joint in the manifest's joint_names order.
properties:
joint:
type: object
properties:
positions:
type: array
items:
type: number
minItems: 7
maxItems: 7
description: "Target joint angle (rad) per planning-group joint."
required:
- positions
required:
- joint
|