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1c36912
remove other controller slashes
marioprats Jul 17, 2025
8e49e30
Merge pull request #361 from PickNikRobotics/controller-slashes
marioprats Jul 17, 2025
f034af3
Add dual Franka HW config
sjahr Jun 12, 2025
60a31f4
Pivot to new HW interface approach!
Jun 12, 2025
600c1e5
Simplify launch files and use hardcoded values
Jun 12, 2025
9903042
Add new waypoint
sjahr Jun 19, 2025
208efad
Update franka dual arm hw config
sjahr Jun 18, 2025
0b13820
Update mounting position, format & update sim srdf
sjahr Jun 19, 2025
db89ea5
Add HW objectives
sjahr Jun 20, 2025
450f31a
Update dependencies
sjahr Jun 20, 2025
5b85c89
Merge 8.3 to 8.4.
rlpratt12 Jul 17, 2025
15340a9
Use correct finger scene, and adjust offset for better grasp.
rlpratt12 Jul 17, 2025
900636c
Updating dual files with files from demo.
kineticsystem Jul 17, 2025
dd9958e
Merge pull request #335 from PickNikRobotics/pr-add-dual-franka-hw-co…
kineticsystem Jul 18, 2025
273a2f4
Merge pull request #363 from PickNikRobotics/merge-8.3-to-8.4
EzraBrooks Jul 18, 2025
79ca360
Fix type in ML Auto Grasp Object from Text Prompt cancel test
griswaldbrooks Jul 16, 2025
7dd42c8
Skip ML Segment Point Cloud from Text Prompt
griswaldbrooks Jul 17, 2025
6d0e19d
skip mpc
griswaldbrooks Jul 18, 2025
7dd6763
Update objectives_integration_test.py
griswaldbrooks Jul 19, 2025
3121ba4
Update objectives_integration_test.py
griswaldbrooks Jul 19, 2025
9f29649
Update objectives_integration_test.py
griswaldbrooks Jul 19, 2025
39f5747
Update objectives_integration_test.py
griswaldbrooks Jul 19, 2025
57cae4b
Merge pull request #358 from PickNikRobotics/13236-typo-cancel-auto-g…
shaur-k Jul 21, 2025
3f27b2a
Merge branch 'main' into add-apriltag-sim
MikeWrock Jul 21, 2025
ea7d824
Hide config from main selection
MikeWrock Jul 21, 2025
421ce0e
Merge branch 'v8.4' into fix_kinova_sim_grasp_objective
rlpratt12 Jul 21, 2025
2cfeda4
Add requirements.txt for analysis script
dyackzan Jul 22, 2025
851e8d0
Troubleshooting, increase timeout
griswaldbrooks Jul 22, 2025
28f6559
Merge pull request #365 from PickNikRobotics/fix_kinova_sim_grasp_obj…
griswaldbrooks Jul 23, 2025
284509f
Merge remote-tracking branch 'origin/v8.4' into merge-8.4-to-main
dyackzan Jul 23, 2025
cea65b2
Merge pull request #370 from PickNikRobotics/merge-8.4-to-main
griswaldbrooks Jul 23, 2025
7c72ebe
Merge branch 'main' into add-apriltag-sim
dyackzan Jul 23, 2025
020e13d
Add copyright to python script
dyackzan Jul 23, 2025
cdadcde
Merge pull request #350 from PickNikRobotics/add-apriltag-sim
dyackzan Jul 23, 2025
fb64ddd
Removed cmake option
kineticsystem Jul 24, 2025
1023cbb
Merge pull request #372 from PickNikRobotics/pr-removed-cmake-option
griswaldbrooks Jul 24, 2025
019f39c
Update objective titles and expose mujoco_viewer parameter
MikeWrock Jul 18, 2025
0b79172
Merge pull request #367 from PickNikRobotics/pr-wrock-8.4
griswaldbrooks Jul 24, 2025
c634dc6
13456 Add table as virtual collision object to ml auto grasp
griswaldbrooks Jul 25, 2025
9a96230
13456 Extend point cloud message timeout in Take Scene Camera Snapshot
griswaldbrooks Jul 25, 2025
89a3ae2
Merge pull request #373 from PickNikRobotics/13456-ml-auto-grasp-weird
griswaldbrooks Jul 25, 2025
f8bbba2
Merge pull request #374 from PickNikRobotics/v8.4
EzraBrooks Jul 25, 2025
2928cc1
Update timeout value for switch controllers
pac48 Jul 29, 2025
528849c
update factory_sim to new AddURDF, etc. Behaviors
marioprats Jul 30, 2025
4e872c7
Merge pull request #377 from PickNikRobotics/update-tool-objectives
marioprats Jul 30, 2025
6f00128
Fix caching of dependency steps in Docker build
EzraBrooks Jul 30, 2025
5533243
Merge pull request #378 from PickNikRobotics/fix-caching-of-builds
EzraBrooks Jul 30, 2025
39864ab
lower kp gains for distal actuators in grinding sim
marioprats Jul 31, 2025
8d6cacc
add tip offset to account for the special fingers
marioprats Jul 31, 2025
5a8e5ac
Merge branch 'v8.5' into fix-switch-controller-timeout
pac48 Jul 31, 2025
73724e5
Switch controllers should activate all controllers in the chain for h…
pac48 Jul 31, 2025
6e2a684
Merge pull request #380 from PickNikRobotics/grinding-sim-gains
marioprats Aug 1, 2025
ee3997f
Merge pull request #382 from PickNikRobotics/pr-fix-switch-controller…
EzraBrooks Aug 1, 2025
309a609
Merge pull request #381 from PickNikRobotics/kinova-sim-fixes
EzraBrooks Aug 1, 2025
62349d3
Open gripper at start of ML Auto Grasp Object from Clicked Point.
rlpratt12 Aug 1, 2025
28b75c3
Merge pull request #376 from PickNikRobotics/fix-switch-controller-ti…
pac48 Aug 2, 2025
dbdf71b
13661 Move rightmost bottle and tune ml threshold for tutorial
griswaldbrooks Aug 4, 2025
c0618dd
Merge pull request #383 from PickNikRobotics/open_gripper_in_ML_grasp…
rlpratt12 Aug 5, 2025
fbb40c6
Merge branch 'v8.5' into 13661-move-bottle
griswaldbrooks Aug 5, 2025
86262ca
Merge pull request #384 from PickNikRobotics/13661-move-bottle
EzraBrooks Aug 5, 2025
17bc441
Move clipseg models to submodule.
rlpratt12 Aug 8, 2025
5a09f47
Merge branch 'v8.5' into merge8586
shaur-k Aug 11, 2025
dda4d8d
Merge pull request #389 from PickNikRobotics/merge8586
shaur-k Aug 11, 2025
729c1f1
Merge pull request #390 from PickNikRobotics/merge8586main
shaur-k Aug 11, 2025
dc8fbcd
Merge branch 'main' into move_clipseg_to_submodule
rlpratt12 Aug 11, 2025
96b241a
Merge pull request #387 from PickNikRobotics/move_clipseg_to_submodule
rlpratt12 Aug 11, 2025
6a38dcb
13833 Change weights package for SAM2 and L2G back to lab_sim
griswaldbrooks Aug 12, 2025
752bded
Merge pull request #392 from PickNikRobotics/13833-fix-ml-packages
griswaldbrooks Aug 12, 2025
d91e8da
13301 Replace factory sim blocks with brackets
griswaldbrooks Jul 31, 2025
a67cf9d
Merge pull request #379 from PickNikRobotics/13301-replace-blocks
griswaldbrooks Aug 12, 2025
c00b200
add example in hangar_sim planning a path along a curved surface
marioprats Aug 13, 2025
5cf9fc4
factory sim bowl rastering example
marioprats Aug 13, 2025
c32a8b6
Merge pull request #394 from PickNikRobotics/cartesian-path-on-curve
davetcoleman Aug 14, 2025
cb96b8a
13300 Add example of picking bracket part in factory_sim
griswaldbrooks Aug 5, 2025
808c7cf
13300 Fix link_g typo
griswaldbrooks Aug 19, 2025
757c16d
Remove unecessary zip file
dsobek Aug 19, 2025
800ea7d
Merge pull request #397 from PickNikRobotics/remove-objective-zip
dsobek Aug 20, 2025
f09625a
Merge pull request #393 from PickNikRobotics/13300-test-icp
griswaldbrooks Aug 20, 2025
ca24994
Reducing Franka workspace build time.
kineticsystem Aug 21, 2025
d84bbe1
Improve showmanship of satellite sim demo
davetcoleman Aug 21, 2025
8087164
Removed files
davetcoleman Aug 21, 2025
ae32412
Merge pull request #391 from PickNikRobotics/pr-franka-build-optimiza…
kineticsystem Aug 22, 2025
e7a4601
13377 Add precise place example to factory_sim
griswaldbrooks Aug 13, 2025
fa4e982
Update src/factory_sim/objectives/indicate_jig_empty.xml
griswaldbrooks Aug 25, 2025
25bf047
Start satellite sim in folded position
dyackzan Aug 25, 2025
033818e
13377 Fix metadata type
griswaldbrooks Aug 26, 2025
f463984
13377 Make more subtrees for pick bracket objective
griswaldbrooks Aug 26, 2025
72b8baa
Merge pull request #401 from PickNikRobotics/13377-precise-place
griswaldbrooks Aug 26, 2025
d31fd89
Merge remote-tracking branch 'origin/main' into v8.6
Aug 27, 2025
c214922
Merge pull request #404 from PickNikRobotics/merge-8.6-to-main
kineticsystem Aug 27, 2025
d1ce4e9
Merge pull request #402 from PickNikRobotics/start-satellite-sim-home…
davetcoleman Sep 3, 2025
768fa53
14122 Adds solution for advanced stack blocks example using ICP
griswaldbrooks Sep 3, 2025
271516b
14122 Adjust initial cad pose and visualize grasp pose
griswaldbrooks Sep 4, 2025
b3812c4
Merge pull request #408 from PickNikRobotics/14122-adds-example-stack…
griswaldbrooks Sep 4, 2025
ae020e2
Update picknik_accessories submodule
dyackzan Sep 11, 2025
85477b4
Merge branch 'v8.7' into satellite_sim_improve3
dyackzan Sep 11, 2025
3f54952
update JTAC's zero_fts service name
marioprats Sep 11, 2025
13628a5
switch SetupMTCConnectWithTrajectory -> SetupMTCConnectWithProRRT
marioprats Sep 11, 2025
74f86ab
chore: clean up dockerfile that unnecesarrily has nvidia stuff now
shaur-k Sep 11, 2025
42367eb
Merge pull request #411 from PickNikRobotics/remove-unnecessary-unuse…
shaur-k Sep 11, 2025
7910256
Merge pull request #400 from PickNikRobotics/satellite_sim_improve3
davetcoleman Sep 11, 2025
515bc0f
Merge pull request #410 from PickNikRobotics/zero_fts_service
marioprats Sep 12, 2025
09aa77d
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 12, 2025
99705fc
New Kitchen scene with Franka arm.
kineticsystem Sep 12, 2025
caf3629
Merge pull request #407 from PickNikRobotics/pr-kitchen-scene
kineticsystem Sep 15, 2025
d5b6c20
Fix example_behavior dependencies
nbbrooks Sep 16, 2025
178d769
Merge pull request #415 from PickNikRobotics/pr-fix-example-behavior-…
nbbrooks Sep 16, 2025
437660b
add get filenames behavior
henrygerardmoore Sep 17, 2025
79532d2
Add Count Boxes Objective
Sep 17, 2025
d05f49a
finish pose loading objective and push back objective
henrygerardmoore Sep 17, 2025
8b1b587
add poses of interest, remove extraneous files
henrygerardmoore Sep 17, 2025
d72e6aa
finish user verification objective
henrygerardmoore Sep 17, 2025
a51d080
add count boxes subtree
henrygerardmoore Sep 17, 2025
0870386
Add objectives to add collision objects to planning scene
WillYingling Sep 17, 2025
faf6db5
Change favorites and Objective names
davetcoleman Sep 15, 2025
26018bf
Fix integration tests
davetcoleman Sep 17, 2025
3b16f91
revert count_boxes change
henrygerardmoore Sep 17, 2025
8ada8e6
remove croppointsinsphere
henrygerardmoore Sep 17, 2025
9a1cfd0
Update count boxes with proper navigation
Sep 17, 2025
5579a14
resolve conflict
Sep 17, 2025
1af2800
Finalize Objectives
Sep 17, 2025
933e4ab
Update test objectives by modifying skipped tests
davetcoleman Sep 18, 2025
5feee79
Remove 'Pick 1 Pill Bottle' from objectives test
davetcoleman Sep 18, 2025
0afaf7b
Merge branch 'v8.7' into rename_favorites
davetcoleman Sep 18, 2025
c3b3f06
Remove duplicate unfolding motion from satellite sim
davetcoleman Sep 18, 2025
6076671
Merge pull request #413 from PickNikRobotics/rename_favorites
davetcoleman Sep 18, 2025
d13d425
Implemented gripper functionality for Franka dual arm sim.
kineticsystem Sep 16, 2025
50a7da1
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 19, 2025
874619f
Merge pull request #414 from PickNikRobotics/pr-franka-dual-arm-grippers
kineticsystem Sep 19, 2025
7b8a64e
Objectathon Example Vector and String Handling
davetcoleman Sep 17, 2025
a584e20
Merge branch 'main' into connect_with_pro_rrt
marioprats Sep 19, 2025
11f4499
Merge pull request #412 from PickNikRobotics/connect_with_pro_rrt
marioprats Sep 19, 2025
aa7affc
Merge branch 'main' into objectathon2
davetcoleman Sep 19, 2025
3986130
Merge branch 'v8.7' into improve_unfolding
davetcoleman Sep 20, 2025
16d9098
Update src/lab_sim/objectives/vector_and_string_example.xml
davetcoleman Sep 22, 2025
d07530c
Merge pull request #417 from PickNikRobotics/objectathon2
rlpratt12 Sep 22, 2025
8071ca3
Add new objective to show adding collision object to planning scene
WillYingling Sep 22, 2025
1a828cf
Fix ghost of old bug in model serialization
EzraBrooks Sep 22, 2025
16b701b
Merge pull request #422 from PickNikRobotics/fix-ghost-of-old-bug
EzraBrooks Sep 22, 2025
72404eb
Use new Mujoco behavior plugin ResetMujocoKeyframe Behavior in kinova…
rlpratt12 Sep 8, 2025
7c846f7
reduced mounting scope for rosdep install stage
MikeWrock Sep 22, 2025
4f1357f
Merge branch 'v8.7' into dockerfixup
MikeWrock Sep 22, 2025
9292bec
Improve docker cache utiliaztion
MikeWrock Sep 23, 2025
5b7fe6f
Merge pull request #409 from PickNikRobotics/keyframe_from_behavior
rlpratt12 Sep 23, 2025
a7ba12c
Merge pull request #421 from PickNikRobotics/improve_unfolding
davetcoleman Sep 24, 2025
d9b1dd6
ignores the fts sensor feedback which is publishing nans
sinaaghli Jul 11, 2025
0a58051
lab_sim: add Inspector multi-view inspection objective (images + merg…
noah-wardlow Sep 17, 2025
0993699
Update inspector.xml
noah-wardlow Sep 17, 2025
3803351
fix: add skip for inspector objective in CI
shaur-k Sep 24, 2025
1439d13
updates to scene and adding Objectives
marioprats Sep 17, 2025
0dc4a75
clean up stationary admittance demo
marioprats Sep 19, 2025
0dea9ee
Replace 'Admittance Demo' with 'Stationary Admittance'
marioprats Sep 19, 2025
13a4818
consolidate into 'Sort Blocks'
marioprats Sep 19, 2025
7c02a6d
rename box -> table
marioprats Sep 23, 2025
1613ef2
Merge pull request #419 from PickNikRobotics/sorting_franka
shaur-k Sep 24, 2025
442391f
Merge pull request #420 from PickNikRobotics/feature/lab-sim-inspecto…
noah-wardlow Sep 25, 2025
3e83160
Reverted change for gripper objectives in satellite_sim.
kineticsystem Sep 25, 2025
5cf09f0
Merge pull request #424 from PickNikRobotics/pr-fix-satellite-sim
kineticsystem Sep 25, 2025
3d4f445
Merge pull request #349 from PickNikRobotics/fix/sinaaghli/admitance-…
shaur-k Sep 28, 2025
cf1192a
Merge branch 'main' into bilal_henry_hackathon_2025
henrygerardmoore Oct 1, 2025
17e4285
update to remove now-unused custom behaviors in favor of core versions
henrygerardmoore Oct 1, 2025
56054ed
pre-commit changes
henrygerardmoore Oct 1, 2025
bd32d85
remove unnecessary objective, add metadata to subtree
henrygerardmoore Oct 1, 2025
b12c904
Merge remote-tracking branch 'origin/v8.7' into v8.8
dsobek Oct 15, 2025
d0b7eb5
Apply changes from moveit_pro core repo
dsobek Oct 15, 2025
5b9ef96
Fix behaivor loader test failure
dsobek Oct 15, 2025
0aa8eb7
Merge pull request #427 from PickNikRobotics/merge-8.7-8.8
dsobek Oct 15, 2025
76a0152
added additional comments to reachability objective
MikeWrock Oct 15, 2025
9e8564f
14875 Moving waypoint in Move Flasks to Burners Objective to be more
griswaldbrooks Oct 16, 2025
26e509a
14875 Fix precommit
griswaldbrooks Oct 16, 2025
61344d6
feat: octomap example working in lab_sim
shaur-k Oct 17, 2025
066dd7a
Merge pull request #431 from PickNikRobotics/octomap-example
shaur-k Oct 17, 2025
6396ee1
Merge pull request #430 from PickNikRobotics/14875-move-flasks-fix
MikeWrock Oct 17, 2025
ffb5920
Merge pull request #428 from PickNikRobotics/reachability-comment
shaur-k Oct 18, 2025
f184eff
Merge pull request #429 from PickNikRobotics/v8.8
shaur-k Oct 21, 2025
f015741
Merge branch 'main' into bilal_henry_hackathon_2025
henrygerardmoore Oct 21, 2025
313c6dc
Update Nav2 to work better, and update paths
Oct 22, 2025
7dc5a96
remove duplicate key
henrygerardmoore Oct 22, 2025
397bf80
Rename franka_dual_arm_sim to simply dual_arm_sim
L4co77 Oct 22, 2025
f506e94
Merge pull request #433 from PickNikRobotics/rename_franka_dual_arm_sim
kineticsystem Oct 23, 2025
503a430
Update to make sure poses are ordered in path
Oct 24, 2025
f770dd6
undo extraneous changes
henrygerardmoore Oct 28, 2025
e03d1e5
add metadata
henrygerardmoore Oct 28, 2025
aa7aca4
autoupdate pre-commit
henrygerardmoore Oct 28, 2025
1070139
fixes from updated pre-commit
henrygerardmoore Oct 28, 2025
e95e1ce
Merge branch 'main' into bilal_henry_hackathon_2025
henrygerardmoore Oct 28, 2025
8968e64
skip integration testing ML objectives
henrygerardmoore Oct 28, 2025
fe7fdbe
Merge branch 'update_precommit' into do_not_test_ml_objectives
henrygerardmoore Oct 28, 2025
d001ee9
Merge pull request #437 from PickNikRobotics/fix_ci
henrygerardmoore Oct 28, 2025
c743719
Merge branch 'main' into bilal_henry_hackathon_2025
henrygerardmoore Oct 28, 2025
d011fc9
Added logging, more subtrees, file path warnings, and port remaps
MikeWrock Oct 29, 2025
418c953
Merge pull request #426 from PickNikRobotics/bilal_henry_hackathon_2025
bgill92 Oct 30, 2025
8b51963
remove uneeded servo_kinematics in franka configs
marioprats Nov 6, 2025
6ddf5ac
Merge pull request #438 from PickNikRobotics/moveit-config-validation
WillYingling Nov 6, 2025
d8eedb4
Moved waypoint and planes for square trajectory
MikeWrock Nov 6, 2025
1f7ed35
Apply suggestions from code review
MikeWrock Nov 6, 2025
20d5529
Merge pull request #439 from PickNikRobotics/record-traj-wp
MikeWrock Nov 6, 2025
081d0f6
Add core visualization Objectives to configs
Nov 6, 2025
5d623e3
Skip Objective for CI testing
Nov 7, 2025
fc3cb50
Fix pre-commit
Nov 7, 2025
bdd1c8e
Merge pull request #440 from PickNikRobotics/add-core-visualization-o…
MikeWrock Nov 7, 2025
8daf2e2
clear octomap at the end of octomap example
marioprats Nov 14, 2025
7d2fad3
Merge pull request #443 from PickNikRobotics/fix-octomap-ci
shaur-k Nov 14, 2025
515d2e7
update kinova_sim reset sim Objective to disable controllers
marioprats Nov 12, 2025
a6d5913
Merge pull request #441 from PickNikRobotics/reset-keyframe-fix
dsobek Nov 17, 2025
b1e4321
Merge branch 'v8.9' into merge89main
shaur-k Nov 19, 2025
f01c0a7
Merge pull request #445 from PickNikRobotics/merge89main
marioprats Nov 20, 2025
e5720fb
added descriptions for mpc objectives
bkanator Nov 14, 2025
457733a
Merge pull request #442 from PickNikRobotics/mpc-obj-descrip-update
bkanator Nov 20, 2025
11e1719
Update Franka description repo and upgrade Franka meshes.
kineticsystem Nov 17, 2025
b5d055f
Update src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/frank…
marioprats Nov 21, 2025
aa853da
Merge pull request #444 from PickNikRobotics/pr-update-franka-meshes
marioprats Nov 21, 2025
f8881d9
Add thumbnail images for config packages
noah-wardlow Dec 1, 2025
a30fe62
Rename Inspector objective to Stitch Multiple Point Clouds Together
noah-wardlow Dec 2, 2025
1fccb35
Update plugin names
JWhitleyWork Nov 17, 2025
8bc2dae
Merge pull request #451 from PickNikRobotics/9.0-pre-release
JWhitleyWork Dec 10, 2025
b6afcab
Merge branch 'main' into rename-inspector-objective
noah-wardlow Dec 11, 2025
165c38e
Merge pull request #449 from PickNikRobotics/rename-inspector-objective
noah-wardlow Dec 11, 2025
c012550
add mpc plugin loader changes for lab_sim due to rearch
bkanator Dec 11, 2025
8f5dbce
Merge branch 'main' into feature/add-config-thumbnails
noah-wardlow Dec 15, 2025
030dfb5
Merge pull request #452 from PickNikRobotics/group-mpc-behaviors-plug…
bkanator Dec 16, 2025
b292215
Merge pull request #447 from PickNikRobotics/feature/add-config-thumb…
shaur-k Dec 17, 2025
65582c2
Update description in plan_and_save_trajectory.xml
davetcoleman Dec 17, 2025
fad243e
Merge pull request #457 from PickNikRobotics/davetcoleman-patch-5
MikeWrock Dec 17, 2025
40c8f32
10385 Adds examples of using sam2 automask with image from factory se…
griswaldbrooks Dec 16, 2025
59f13c2
remove OMPL and STOMP configs in lab_sim
marioprats Dec 15, 2025
4ec0f06
Merge pull request #458 from PickNikRobotics/10385-automask-example-main
griswaldbrooks Dec 19, 2025
4b79c59
add joint_jog to all configs
marioprats Oct 20, 2025
d4e7a77
Merge branch 'main' into remove_planning_interface
marioprats Dec 22, 2025
7557719
Merge pull request #459 from PickNikRobotics/remove_planning_interface
marioprats Dec 22, 2025
4aab9ae
Merge remote-tracking branch 'origin/main' into joint_jog
marioprats Dec 22, 2025
5f75cd1
Merge pull request #432 from PickNikRobotics/joint_jog
noah-wardlow Dec 22, 2025
e342193
Improve favorite objectives in hangar_sim
L4co77 Dec 22, 2025
06cf283
Merge pull request #460 from PickNikRobotics/15879-improve-favorite-o…
davetcoleman Dec 27, 2025
f45c4c1
Reduce Favorites in factory_sim
L4co77 Jan 5, 2026
457caf4
Fix - Rename and update skip list
L4co77 Jan 6, 2026
333be02
Merge pull request #462 from PickNikRobotics/15964-reduce-favorites-i…
L4co77 Jan 6, 2026
5f840dc
Change factory_sim warnings to infos
L4co77 Jan 5, 2026
ee71e20
Merge pull request #463 from PickNikRobotics/15963-change-factory_sim…
L4co77 Jan 6, 2026
7859613
update Objective to use ExecuteTrajectory
marioprats Dec 16, 2025
418a94a
update all Objectives executing via JTC to use ExecuteTrajectory
marioprats Dec 17, 2025
e175a70
Merge pull request #456 from PickNikRobotics/execute_trajectory
kineticsystem Jan 7, 2026
8b94b06
Rename env vars STUDIO_ to MOVEIT_
JWhitleyWork Jan 2, 2026
5f3da4b
Merge pull request #461 from PickNikRobotics/rename-env-vars-to-moveit
JWhitleyWork Jan 8, 2026
a54bd63
update CI workflow to 0.0.4 to include env variables change
marioprats Jan 13, 2026
a53e2b2
fix: correct secret?
shaur-k Jan 13, 2026
f87fb85
Merge pull request #468 from PickNikRobotics/update-ci-workflow
shaur-k Jan 13, 2026
db42fa3
Move /dev:/dev mapping to example_ws
JWhitleyWork Jan 13, 2026
af566e3
Merge pull request #469 from PickNikRobotics/15876-move-dev-dev-mappi…
JWhitleyWork Jan 13, 2026
54f37bd
remove base_frame and joints from VFC and JTAC parameters
suchkristenwow Jan 23, 2026
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4 changes: 4 additions & 0 deletions .dockerignore
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@@ -0,0 +1,4 @@
.git
build
install
log
8 changes: 8 additions & 0 deletions .gitattributes
Original file line number Diff line number Diff line change
Expand Up @@ -10,3 +10,11 @@
*.ply filter=lfs diff=lfs merge=lfs -text
*.3ds filter=lfs diff=lfs merge=lfs -text
*.blend filter=lfs diff=lfs merge=lfs -text
# Add Git LFS support for large yaml files
src/moveit_pro_franka_configs/franka_arm_sim/objectives/moveitpro_loves_franka.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text
13 changes: 10 additions & 3 deletions .github/workflows/ci.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -15,11 +15,12 @@ on:

jobs:
integration-test-in-studio-container:
uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.4
with:
image_tag: ${{ github.event.inputs.image_tag || null }}
image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
colcon_test_args: "--executor sequential"
secrets: inherit
secrets:
moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}

ensure-no-ssh-in-gitmodules:
name: Ensure no SSH URLs in .gitmodules
Expand All @@ -28,3 +29,9 @@ jobs:
- uses: actions/checkout@v3
- name: Check .gitmodules file for Git-over-SSH URLs
run: "! grep 'git@' .gitmodules"

validate_objectives:
runs-on: ubuntu-22.04
steps:
- uses: actions/checkout@v3
- uses: PickNikRobotics/moveit_pro_lint@v0.0.1
4 changes: 4 additions & 0 deletions .gitignore
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@@ -0,0 +1,4 @@
build/
install/
log/
.vscode/
32 changes: 32 additions & 0 deletions .gitmodules
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@@ -0,0 +1,32 @@
[submodule "src/picknik_accessories"]
path = src/picknik_accessories
url = https://github.com/PickNikRobotics/picknik_accessories.git
[submodule "src/external_dependencies/Universal_Robots_ROS2_Description"]
path = src/external_dependencies/ur_description
url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git
[submodule "src/external_dependencies/clearpath_mecanum_drive_controller"]
path = src/external_dependencies/clearpath_mecanum_drive_controller
url = https://github.com/PickNikRobotics/clearpath_mecanum_drive_controller.git
[submodule "src/external_dependencies/fanuc"]
path = src/external_dependencies/fanuc
url = https://github.com/PickNikRobotics/fanuc.git
[submodule "src/external_dependencies/ros2_kortex_vision"]
path = src/external_dependencies/ros2_kortex_vision
url = https://github.com/PickNikRobotics/ros2_kortex_vision.git
[submodule "src/external_dependencies/ros2_kortex"]
path = src/external_dependencies/ros2_kortex
url = https://github.com/PickNikRobotics/ros2_kortex.git
[submodule "src/external_dependencies/franka_config/libfranka"]
path = src/external_dependencies/franka_config/libfranka
url = https://github.com/frankarobotics/libfranka.git
[submodule "src/external_dependencies/franka_config/franka_ros2"]
path = src/external_dependencies/franka_config/franka_ros2
url = https://github.com/sjahr/franka_ros2.git
branch = automatica_demo
[submodule "src/external_dependencies/franka_config/franka_description"]
path = src/external_dependencies/franka_config/franka_description
url = https://github.com/frankarobotics/franka_description.git
branch = main
[submodule "src/moveit_pro_clipseg"]
path = src/moveit_pro_clipseg
url = https://github.com/PickNikRobotics/moveit_pro_clipseg.git
23 changes: 14 additions & 9 deletions .pre-commit-config.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -11,10 +11,11 @@
# pre-commit autoupdate
#
# See https://github.com/pre-commit/pre-commit
exclude: ^src/external_dependencies/
repos:
# Standard hooks
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v3.4.0
rev: v6.0.0
hooks:
- id: check-ast
- id: check-case-conflict
Expand All @@ -30,12 +31,12 @@ repos:
- id: fix-byte-order-marker

- repo: https://github.com/psf/black
rev: 22.3.0
rev: 25.9.0
hooks:
- id: black

- repo: https://github.com/codespell-project/codespell
rev: v2.0.0
rev: v2.4.1
hooks:
- id: codespell
args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
Expand All @@ -50,31 +51,35 @@ repos:
args: ["-fallback-style=none"]

- repo: https://github.com/adrienverge/yamllint
rev: v1.27.1
rev: v1.37.1
hooks:
- id: yamllint
args:
[
"--no-warnings",
"--config-data",
"{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
"{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable, empty-lines: {max-end: 0, max-start: 1}}}",
]
types: [text]
files: \.(yml|yaml)$

- repo: https://github.com/tcort/markdown-link-check
rev: v3.10.3
rev: v3.14.1
hooks:
- id: markdown-link-check

# NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
- repo: https://github.com/hadolint/hadolint
rev: v2.10.0
rev: v2.14.0
hooks:
- id: hadolint-docker
- id: hadolint
name: "Lint Dockerfiles"
language: docker_image
types: ["dockerfile"]
entry: hadolint/hadolint:2.11.0 hadolint

- repo: https://github.com/pre-commit/mirrors-prettier
rev: "v3.1.0"
rev: "v4.0.0-alpha.8"
hooks:
# Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
# Also we use it in the UI, so it's familiar.
Expand Down
36 changes: 19 additions & 17 deletions Dockerfile
Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
#

# Specify the MoveIt Pro release to build on top of.
ARG MOVEIT_STUDIO_BASE_IMAGE
ARG USERNAME=studio-user
ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}
ARG USERNAME=moveit-pro-user
ARG USER_UID=1000
ARG USER_GID=1000

Expand All @@ -16,7 +16,7 @@ ARG USER_GID=1000
##################################################
# The image tag is specified in the argument itself.
# hadolint ignore=DL3006
FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
FROM ${MOVEIT_PRO_BASE_IMAGE} AS base

# Create a non-root user
ARG USERNAME
Expand All @@ -26,8 +26,12 @@ ARG USER_GID
# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
ARG USER_WS=/home/${USERNAME}/user_ws
ENV USER_WS=${USER_WS}
RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
COPY ./src ${USER_WS}/src

# Set real time limits
# Ensure the directory exists
RUN mkdir -p /etc/security
# Copy the custom limits configuration into the container
COPY src/moveit_pro_franka_configs/franka_arm_hw/config/rt_limits.conf /etc/security/limits.conf

# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
WORKDIR $USER_WS
Expand All @@ -49,24 +53,21 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
/home/${USERNAME}/.ros && \
chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/

# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
# To do this you must
# 1. Uncomment the ENV and RUN entries below
# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
# ENV DEBIAN_FRONTEND=noninteractive
# RUN apt update && apt install -y software-properties-common
# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
# --mount=type=cache,target=/var/lib/apt,sharing=locked \
# add-apt-repository ppa:graphics-drivers/ppa && \
# apt update && apt upgrade -y && apt install -y nvidia-driver-555
# Add user to dialout group to enable communication with serial USB devices (gripper, FTS, ...)
# Add user to video group to enable communication with cameras
RUN usermod -aG dialout,video ${USERNAME}

# Add user to the realtime group to enable RT limits
RUN groupadd realtime && \
usermod -a -G realtime ${USERNAME}

# Install additional dependencies
# You can also add any necessary apt-get install, pip install, etc. commands at this point.
# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
# hadolint ignore=SC1091
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
--mount=type=bind,target=${USER_WS}/src,source=./src \
. /opt/overlay_ws/install/setup.sh && \
apt-get update && \
rosdep install -q -y \
Expand Down Expand Up @@ -103,7 +104,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
apt-get install -y --no-install-recommends \
less \
gdb \
nano
nano \
tmux

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]
Expand Down
65 changes: 61 additions & 4 deletions README.md
Original file line number Diff line number Diff line change
@@ -1,7 +1,64 @@
# MoveIt Pro Workspace
# MoveIt Pro Example Workspace

This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
This is fork of the [MoveIt Pro Empty Workspace](https://github.com/PickNikRobotics/moveit_pro_empty_ws).
This workspace contains reference materials for using MoveIt Pro, including:
- [Example base UR5e configuration](src/moveit_pro_ur_configs/picknik_ur_base_config)
- [A physics based simulation environment with a robot on a linear rail](src/lab_sim)
- [Mobile manipulation configuration](src/hangar_sim)
- [Example behaviors](src/example_behaviors)

You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
Since the [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) package uses git LFS, [it cannot be added as a subtree](https://github.com/git-lfs/git-lfs/issues/854).
Please ensure you have the submodule up to date using:
```bash
git submodule update --recursive --init
```

For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
## Working with Git Subtrees

This repository was created through the combination of multiple repositories using git subtree.
If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.

### Repository Structure


The structure of this repository is as follows:

<pre>
.
├── <a href="README.md">README.md</a>
└── src
├── <a href="https://github.com/PickNikRobotics/example_behaviors">example_behaviors</a>
├── <a href="https://github.com/PickNikRobotics/lab_sim">lab_sim</a>
├── <a href="https://github.com/PickNikRobotics/moveit_pro_ur_configs">moveit_pro_ur_configs</a>
│ ├── picknik_ur_base_config
│ ├── mock_sim
│ ├── multi_arm_sim
│ ├── picknik_ur_sim_config
│ └── picknik_ur_site_config
├── <a href="https://github.com/PickNikRobotics/moveit_pro_kinova_configs">moveit_pro_kinova_configs</a>
│ ├── kinova_gen3_base_config
│ ├── kinova_sim
│ └── moveit_studio_kinova_pstop_manager
├── <a href="https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation">moveit_pro_mobile_manipulation</a>
│ ├── mobile_manipulation_config
│ └── picknik_ur_mobile_config
├── <a href="https://github.com/PickNikRobotics/fanuc_sim">fanuc_sim</a>
├── <a href="https://github.com/PickNikRobotics/picknik_accessories">picknik_accessories</a> (submodule)
└── external_dependencies
├── <a href="https://github.com/sjahr/ridgeback/tree/ros2">ridgeback</a>
├── <a href="https://github.com/PickNikRobotics/ros2_robotiq_gripper">ros2_robotiq_gripper</a>
└── <a href="https://github.com/tylerjw/serial/tree/ros2">serial</a>
</pre>

This repository contains a **copy** of the git repositories that were added as subtrees.
File changes and commits are treated as if they happen only in this repository.
If you update the contents of a subtree, you can merge the latest `main` branch of [lab_sim](https://github.com/PickNikRobotics/lab_sim) using the following command:
```bash
git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash
```

To pull the upstream changes to all subtrees and submodules, a convenience script is provided.
From the top level, you can execute:
```bash
./sync_subtrees.sh
```
29 changes: 29 additions & 0 deletions colcon-defaults.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,9 @@
build:
# Enable this for bidirectional syncing from the UI
symlink-install: true
allow-overriding:
- robotiq_description
- ur_description
mixin:
# Enable ccache support
- ccache
Expand All @@ -13,7 +16,33 @@ build:
- build-testing-on
- coverage-gcc
- coverage-pytest
packages-skip:
- libfranka
- franka_bringup
- franka_example_controllers
- franka_fr3_moveit_config
- franka_gazebo_bringup
- franka_ign_ros2_control
- franka_gripper
- franka_hardware
- franka_robot_state_broadcaster
- franka_ros2
- franka_semantic_components
- integration_launch_testing
test:
event-handlers:
- console_direct+
- desktop_notification+
packages-skip:
- libfranka
- franka_bringup
- franka_example_controllers
- franka_fr3_moveit_config
- franka_gazebo_bringup
- franka_ign_ros2_control
- franka_gripper
- franka_hardware
- franka_robot_state_broadcaster
- franka_ros2
- franka_semantic_components
- integration_launch_testing
24 changes: 11 additions & 13 deletions docker-compose.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -3,28 +3,26 @@

# Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
# Feel free to remove services here that are unmodified.
#
services:

# The base image that all MoveIt Pro services extend off of. Builds the user workspace.
base:
build:
# List any arguments for building the user workspace here.
args:
# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
# To do this you must
# 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
# - BASE=nvidia
# - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555
base: {}

# Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
agent_bridge:
agent_bridge: {}

# Starts the robot drivers.
drivers:
volumes:
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev

# Starts the web UI frontend.
web_ui:
web_ui: {}

# Developer specific configuration when running `moveit_pro dev`.
dev:
volumes:
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev
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