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name moveit-wbc
description Bring up MoveIt 2 + whole-body-control RViz for the Genie G2 family, using `ros2 launch genie_sim_moveit wbc.launch.py`. Covers arm × gripper selection, the three packaged IK plugins (KDL-coupled, bio_ik-coupled, relaxed-IK), the GenieBioIK human-prior A/B switch, and the `use_ros2_control:=false` mode for direct `/joint_command` driving. Trigger: When the user asks to "start moveit", "wbc rviz", "plan with moveit", "switch IK plugin", "drive joint_command directly", "compare human priors", or pairs MoveIt with a `scene_*_g2_*` launched by the `launch-scene` skill.
license MPL-2.0
metadata
author version
genie-sim
1.0
prerequisites
geniesim_ros:launch-scene
inputs
name desc required default
arm
arm variant (`crs` / `crsB`)
false
crsB
name desc required default
gripper
gripper variant (`swiftpicker` / `omnipicker` / `none`)
false
swiftpicker
name desc required default
use_ros2_control
`false` to drive via /joint_command directly (move_group only)
false
true
name desc required default
use_human_priors
GenieBioIK priors on (default) vs vanilla BioIK
false
true
outputs
desc
`move_group` + `robot_state_publisher` + `rviz2` (MoveIt-Plan-Execute panel) up; optionally ros2_control controllers spawned

When to Use

  • A scene_*_g2_{op,sp} is running (via the launch-scene skill) and the user wants planning + RViz on top.
  • User wants to switch the active IK plugin or A/B the GenieBioIK "human priors" (torso-straight, chassis-pin, head LookAt).
  • User wants to drive the arm directly via /joint_command (e.g. wok_flip_cmds.py) without ros2_control fighting the publisher.

Do not use for:

  • Robots other than Genie G2 — the SRDF, coupled-joint constraints, and ros2_controllers manifest are G2-only. Other robots run on the engine but don't have a packaged MoveIt config.
  • Launching the simulator itself → launch-scene skill.
  • Building the workspace → build-workspace skill.

Critical Patterns

  1. arm and gripper are independent. Defaults are arm:=crsB gripper:=swiftpicker. The launch wires both into the URDF filename and the SRDF xacro mappings, so any (arm, gripper) combo that has a corresponding URDF under genie_sim_robot_model/urdf/ works.
  2. Match MoveIt's (arm, gripper) to the scene's robot variant. scene_pnp_g2_op → gripper:=omnipicker, scene_wbc_g2_sp → gripper:=swiftpicker. Mismatched values produce a URDF MoveIt can plan against but a robot the engine refuses to drive.
  3. Pick the IK plugin via use_human_priors, not by editing yaml. use_human_priors:=true (default) loads config/kinematics.yaml (GenieBioIK with priors); use_human_priors:=false loads config/kinematics_vanilla.yaml (upstream BioIK, every prior weight zeroed). Both files share the plugin selection / IK links / timeouts so the only A/B variable is the goal stack.
  4. use_ros2_control:=false for /joint_command driving. When an external publisher (teleop, wok-flip script) writes /joint_command, the ros2_control node would republish at the CM update rate and fight it — set this flag to leave move_group alone (the /compute_ik, /compute_fk services) so there's a single source on the topic.

The matrix

Scene (from launch-scene) Recommended wbc.launch.py args
scene_pnp_g2_op arm:=crsB gripper:=omnipicker
scene_wbc_g2_sp arm:=crsB gripper:=swiftpicker (defaults)
scene_flat_g2_sp / _chef / _shirt defaults (crsB + swiftpicker)
IK plugin / mode Args
GenieBioIK with human priors (default) use_human_priors:=true
Upstream BioIK (priors zeroed, for A/B) use_human_priors:=false
move_group only — /compute_ik services, no controllers use_ros2_control:=false

Workflow

Step 1 — Confirm the scene is up

launch-scene skill should already be running in another shell. Verify:

ros2 topic list | grep -E "joint_states|tf|clock"
ros2 topic hz /clock                    # sim-time pacing should be live

Step 2 — Pick arm + gripper

Ask via AskUserQuestion if not given. Default to the scene's gripper (see matrix above).

Step 3 — Launch MoveIt

source devel/setup.bash

# Default (Genie G2 + crsB + swiftpicker + human priors + ros2_control):
ros2 launch genie_sim_moveit wbc.launch.py

# crs arm + omnipicker:
ros2 launch genie_sim_moveit wbc.launch.py arm:=crs gripper:=omnipicker

# A/B vanilla BioIK (priors disabled):
ros2 launch genie_sim_moveit wbc.launch.py use_human_priors:=false

# Direct /joint_command (e.g. external teleop / wok_flip_cmds.py):
ros2 launch genie_sim_moveit wbc.launch.py use_ros2_control:=false

Step 4 — Plan in RViz

The launch starts move_group, robot_state_publisher, and rviz2 with the MoveIt-Plan-Execute panel. Drag the interactive marker on the IK link, hit Plan, then Execute.

Step 5 — (optional) Drive the chassis as a single chain

simple_body_controller claims the same body-joint position interfaces as simple_waist_controller + simple_torso_controller, so it's configured but not auto-spawned. To drive the body as one chain:

ros2 control switch_controllers \
  --activate simple_body_controller \
  --deactivate simple_waist_controller simple_torso_controller

Commands (copy-paste summary for the user)

# Inside the container, after sourcing the overlay:
source devel/setup.bash

# Most common: match a pnp scene
ros2 launch genie_sim_moveit wbc.launch.py arm:=crsB gripper:=omnipicker

# A/B the human priors
ros2 launch genie_sim_moveit wbc.launch.py use_human_priors:=false

# move_group only (for external /joint_command publishers)
ros2 launch genie_sim_moveit wbc.launch.py use_ros2_control:=false

Notes

  • The MoveIt URDF joint limits are widened by ±0.01 rad / ±0.001 m at launch time to absorb MuJoCo soft-limit drift — CheckStartStateBounds reads URDF limits directly, so the per-pipeline start_state_max_bounds_error doesn't help. Helper lives in genie_sim_robot_model.urdf_utils.pad_urdf_joint_limits.
  • Default workspace half-extent for OMPL planar-joint bounds is set to 200 m via ompl.default_workspace_bounds — without this, FixWorkspaceBounds clamps planar_joint/trans_{x,y} to a narrow box that excludes the actual map → base_link pose.
  • fix_start_state:=true lets jazzy's CheckStartStateBounds adapter actively renormalise joint values that drift past <limit> by sub-mrad under contact load (default upstream is false).
  • The MoveIt config is distro-agnostic (Humble + Jazzy). Distro drift is absorbed by moveit_compat.hpp in genie_sim_moveit_plugins/, never by #ifdef in the config package.

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