Merge pull request #363 from PickNikRobotics/merge-8.3-to-8.4

EzraBrooks · web-flow · commit 273a2f4c140c · 2025-07-18T09:20:03.000-06:00
Merge 8.3 to 8.4
diff --git a/src/external_dependencies/ros2_kortex_vision b/src/external_dependencies/ros2_kortex_vision
@@ -1 +1 @@
-Subproject commit 356f5767f1d274f56f5fc5a6ab0a8240ea04cf83
+Subproject commit aa94b938ca62312495eb5473c5f84075e377a27f
diff --git a/src/factory_sim/objectives/inspect_convex_bowl.xml b/src/factory_sim/objectives/inspect_convex_bowl.xml
@@ -59,7 +59,7 @@
           ID="InitializeMTCTask"
           task="{mtc_task}"
           trajectory_monitoring="false"
-          controller_names="/joint_trajectory_controller"
+          controller_names="joint_trajectory_controller"
         />
         <Action ID="SetupMTCCurrentState" task="{mtc_task}" />
         <Action
diff --git a/src/factory_sim/objectives/pick_up_tool_from_holder.xml b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
@@ -15,7 +15,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="pick_up_tool"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{mtc_task}"
         trajectory_monitoring="false"
       />
diff --git a/src/factory_sim/objectives/place_tool_in_tool_holder.xml b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
@@ -15,7 +15,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="pick_up_tool"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{mtc_task}"
         trajectory_monitoring="false"
       />
diff --git a/src/factory_sim/objectives/retract.xml b/src/factory_sim/objectives/retract.xml
@@ -8,7 +8,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task_id="retract"
         task="{mtc_task}"
         trajectory_monitoring="false"
diff --git a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
@@ -208,7 +208,7 @@
                     />
                     <Action
                       ID="InitializeMTCTask"
-                      controller_names="/joint_trajectory_controller"
+                      controller_names="joint_trajectory_controller"
                       task="{task}"
                       task_id=""
                       trajectory_monitoring="false"
diff --git a/src/hangar_sim/objectives/move_to_pose_no_preview.xml b/src/hangar_sim/objectives/move_to_pose_no_preview.xml
@@ -9,7 +9,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="move_to_pose"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{move_to_pose_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
diff --git a/src/hangar_sim/objectives/request_teleoperation.xml b/src/hangar_sim/objectives/request_teleoperation.xml
@@ -97,7 +97,7 @@
                       link_padding="0.0"
                       planning_group_name="{planning_group}"
                       ik_frame="{tip_link}"
-                      controller_names="/joint_trajectory_controller"
+                      controller_names="joint_trajectory_controller"
                     />
                     <Action
                       ID="PublishEmpty"
@@ -134,7 +134,7 @@
                       target_joint_state="{target_joint_state}"
                       acceleration_scale_factor="1.0"
                       controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
-                      controller_names="joint_trajectory_controller"
+                      controller_names="joint_trajectory_controller;platform_velocity_controller"
                       joint_group_name="manipulator"
                       keep_orientation="false"
                       keep_orientation_link_names="grasp_link"
diff --git a/src/hangar_sim/objectives/solution_move_forward_2m.xml b/src/hangar_sim/objectives/solution_move_forward_2m.xml
@@ -24,7 +24,7 @@
       <SubTree
         ID="Move to a StampedPose"
         _collapsed="true"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         target_pose="{stamped_pose}"
       />
     </Control>
diff --git a/src/lab_sim/objectives/add_poses_to_mtc_task.xml b/src/lab_sim/objectives/add_poses_to_mtc_task.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         trajectory_monitoring="false"
       />
diff --git a/src/lab_sim/objectives/grasp_planning.xml b/src/lab_sim/objectives/grasp_planning.xml
@@ -59,7 +59,7 @@
         <Action
           ID="InitializeMTCTask"
           task_id="pick_object"
-          controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+          controller_names="joint_trajectory_controller;robotiq_gripper_controller"
           task="{pick_object_task}"
           trajectory_monitoring="false"
         />
diff --git a/src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml b/src/lab_sim/objectives/ml_grasp_object_from_text_prompt.xml
@@ -71,7 +71,7 @@
         <Action
           ID="InitializeMTCTask"
           task_id="grasp"
-          controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+          controller_names="joint_trajectory_controller;robotiq_gripper_controller"
           task="{mtc_task}"
           trajectory_monitoring="false"
         />
diff --git a/src/lab_sim/objectives/move_along_square.xml b/src/lab_sim/objectives/move_along_square.xml
@@ -4,7 +4,7 @@
     <Control ID="Sequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{mtc_task}"
         task_id="move_along_axis"
       />
diff --git a/src/lab_sim/objectives/pick_from_pose.xml b/src/lab_sim/objectives/pick_from_pose.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         task_id="pick_object"
         trajectory_monitoring="false"
diff --git a/src/lab_sim/objectives/pick_from_pose_with_approval.xml b/src/lab_sim/objectives/pick_from_pose_with_approval.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         task_id="pick_object"
         trajectory_monitoring="false"
diff --git a/src/lab_sim/objectives/place_at_pose.xml b/src/lab_sim/objectives/place_at_pose.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         task_id="place_object"
         trajectory_monitoring="false"
diff --git a/src/lab_sim/objectives/place_at_pose_with_approval.xml b/src/lab_sim/objectives/place_at_pose_with_approval.xml
@@ -9,7 +9,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
         ID="InitializeMTCTask"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         task_id="place_object"
         trajectory_monitoring="false"
diff --git a/src/lab_sim/objectives/plan_move_to_pose.xml b/src/lab_sim/objectives/plan_move_to_pose.xml
@@ -9,7 +9,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="move_to_pose"
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{move_to_pose_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/compliant_grasp_rafti_vfc.xml
@@ -191,7 +191,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id=""
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         trajectory_monitoring="false"
       />
@@ -228,7 +228,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id=""
-        controller_names="/joint_trajectory_controller;/robotiq_gripper_controller"
+        controller_names="joint_trajectory_controller;robotiq_gripper_controller"
         task="{mtc_task}"
         trajectory_monitoring="false"
       />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml
@@ -28,7 +28,7 @@ hardware:
       - dof: "7"
       - mujoco_keyframe: "default"
       - mujoco_model: "description/mujoco/scene.xml"
-      - mujoco_viewer: "true"
+      - mujoco_viewer: "false"
 
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml
@@ -32,7 +32,7 @@ hardware:
 # Configuration for loading behaviors and objectives.
 objectives:
   objective_library_paths:
-    custom_objectives:
+    sim_objectives:
       package_name: "space_satellite_sim_camera_cal"
       relative_path: "objectives"
   # Specify location of the waypoints file.
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_scene_camera.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_scene_camera.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Calibrate Scene Camera"
     _description="Calibrate the scene camera from multiple waypoints using the DetectAprilTags behavior."
-    _favorite="false"
+    _favorite="true"
   >
     <SubTree
       ID="Calibrate Camera - Detect Tags"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera.xml
@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Calibrate Servicer Camera"
     _description="Calibrate the servicer camera from multiple waypoints using the DetectAprilTags behavior."
-    _favorite="false"
+    _favorite="true"
   >
     <SubTree
       ID="Calibrate Camera - Detect Tags"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera_-_tag_tfs.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_servicer_camera_-_tag_tfs.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Calibrate Servicer Camera - Tag TFs"
     _description="Calibrate the servicer camera from multiple waypoints using externally published detected AprilTag TF frames."
-    _favorite="false"
+    _favorite="true"
   >
     <SubTree
       ID="Calibrate Camera - Tag TFs"
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/inspect_surface.xml
@@ -9,7 +9,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="inspect_surface"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{move_to_pose_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button.xml
@@ -12,7 +12,7 @@
         <Action
           ID="InitializeMTCTask"
           task_id="push_button"
-          controller_names="/joint_trajectory_controller"
+          controller_names="joint_trajectory_controller"
           task="{push_button_task}"
         />
         <Action ID="SetupMTCCurrentState" task="{push_button_task}" />
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -95,7 +95,7 @@
         <Action
           ID="InitializeMTCTask"
           task_id="push_button_ml"
-          controller_names="/joint_trajectory_controller"
+          controller_names="joint_trajectory_controller"
           task="{push_along_axis_task}"
         />
         <Action ID="SetupMTCCurrentState" task="{push_along_axis_task}" />
diff --git a/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml b/src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml
@@ -5,7 +5,7 @@
       <Action
         ID="InitializeMTCTask"
         task_id="close_cabinet_door_retreat"
-        controller_names="/joint_trajectory_controller"
+        controller_names="joint_trajectory_controller"
         task="{retreat_task}"
       />
       <Action ID="SetupMTCCurrentState" task="{retreat_task}" />
diff --git a/src/picknik_accessories b/src/picknik_accessories
@@ -1 +1 @@
-Subproject commit 6e9dbedad7e6b202d3fd420ad8c949e24774fb5e
+Subproject commit c7d9496154b742873c011721e9e9e4404e3053c8
