# rSkill manifest — moveit-look-at: aim a robot camera at a 3-D point
#
# Wraps `moveit_msgs/action/MoveGroup`; the goal is authored as a `look_at`
# block (target point + camera name) instead of raw constraints:
# `ros_integration.goal_builder: look_at` selects the `LookAtRskill` adapter,
# which resolves the camera from the robot manifest (default "wrist";
# ROSConfigError listing available sensors when absent), reads the camera's
# current pose over TF2, computes the gaze pose (camera +Z hits the target,
# roll about the optical axis left free for reachability), and lowers it into
# MoveGroup position + orientation constraints for the camera's mount link.
#
# Renamed from `openral/rskill-look-at` as part of the `rskill-moveit-*`
# family (-joints / -eef-pose / -look-at over one ROSActionRskill engine).
#
# `plan_only: true` deliberately: OpenRAL's actuation path is the per-waypoint
# replay through /openral/candidate_action (safety kernel checks every step,
# HAL actuates). Letting move_group ALSO execute on its own controllers would
# bypass the kernel and double-drive the arm.

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

# Any arm embodiment with a MoveIt configuration AND a body-mounted camera
# declared in its robot.yaml. The default goal targets the Franka demo
# (panda_arm group, LIBERO eye-in-hand on panda_hand); other embodiments
# override `request.group_name` + `look_at.camera` / `look_at.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

# Surfaced to the Reasoner LLM tool palette.
description: >
  Aim a robot-mounted camera (default the wrist camera) at a 3-D point so a
  later perception query or manipulation skill sees the object framed.
  Plans a collision-aware arm motion via MoveIt that points the camera's
  optical axis at look_at.target_xyz. Use after navigating to an approach
  pose and before locate_in_view / a grasp skill.
actions:
  - "look"
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"
  # Selects the LookAtRskill goal-lowering adapter: the
  # `look_at` block below is consumed by the adapter (popped before the
  # MoveGroup goal message is built); `request.goal_constraints` is filled in
  # at dispatch.
  goal_builder: "look_at"
  # Defaults target the upstream `moveit_resources_panda_moveit_config` demo:
  # planning frame `panda_link0`, LIBERO eye-in-hand camera on `panda_hand`.
  # `look_at.target_xyz` is a reachable point on the demo's tabletop; real
  # dispatches override it via goal_params_json.
  default_goal_json: |
    {
      "look_at": {
        "target_xyz": [0.5, 0.0, 0.2],
        "frame_id": "panda_link0",
        "camera": "wrist",
        "standoff_m": null,
        "position_tolerance_m": 0.02,
        "orientation_tolerance_rad": 0.15
      },
      "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 the look_at block; planner settings are inherited.
goal_params_schema:
  type: object
  description: >
    Aim the named camera at a 3-D point. target_xyz is expressed in
    look_at.frame_id (the planning frame). camera names a sensor from the
    robot manifest (default "wrist"). Omit standoff_m to re-aim the camera
    in place; set it to also move the camera to that distance from the
    target along its current line of approach.
  properties:
    look_at:
      type: object
      properties:
        target_xyz:
          type: array
          items:
            type: number
          minItems: 3
          maxItems: 3
          description: "Point to aim at, [x, y, z] metres in look_at.frame_id."
        camera:
          type: string
          description: "Sensor name from the robot manifest. Default: wrist."
        standoff_m:
          type: number
          description: >
            Optional camera-to-target distance; omit to re-aim in place.
      required:
        - target_xyz
  required:
    - look_at