Fix: Stop hangar_sim base pirouette by biasing pick IK yaw#736
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Fix: Stop hangar_sim base pirouette by biasing pick IK yaw#736griswaldbrooks wants to merge 1 commit into
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Use the new opt-in IK yaw weighting to keep the omni-base heading near its current value during picks instead of drifting a full revolution (issue #19973): weight rotational_yaw_joint in the pose_ik seed-distance cost, and in the SetupMTCBatchPoseIK solution-selection cost with max_ik_solutions=8 so the selection has yaw alternatives to choose from. Base translation stays free, so reachability is preserved. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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griswaldbrooks
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Lift each grasped box ~10 cm (Cartesian, grasp_link -Z) before transiting so it clears the surface and does not drag along the ground. Tune the pick for speed and consistency: drop num_orientation_samples 20->8 and max_ik_solutions 16->8 (fewer candidates, the pose IK is the bottleneck), and bias the redundant base yaw via cost_joint_names/cost_joint_weights so MTC selects the lowest-base-yaw grasp IK and the omni-base stops pirouetting between picks. The cost_joint_names/cost_joint_weights ports require the SetupMTCBatchPoseIK support added in moveit_pro#20073 and the pose_ik seed-distance config from moveit_pro_example_ws#736; this objective therefore overlaps #736's pirouette work and is not standalone-mergeable to main until those land. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
griswaldbrooks
added a commit
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Jun 28, 2026
Lift each grasped box ~10 cm (Cartesian, grasp_link -Z) before transiting so it clears the surface and does not drag along the ground. Tune the pick for speed and consistency: drop num_orientation_samples 20->8 and max_ik_solutions 16->8 (fewer candidates, the pose IK is the bottleneck), and bias the redundant base yaw via cost_joint_names/cost_joint_weights so MTC selects the lowest-base-yaw grasp IK and the omni-base stops pirouetting between picks. The cost_joint_names/cost_joint_weights ports require the SetupMTCBatchPoseIK support added in moveit_pro#20073 and the pose_ik seed-distance config from moveit_pro_example_ws#736; this objective therefore overlaps #736's pirouette work and is not standalone-mergeable to main until those land. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
griswaldbrooks
added a commit
that referenced
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Jun 29, 2026
Lift each grasped box ~10 cm (Cartesian, grasp_link -Z) before transiting so it clears the surface and does not drag along the ground. Tune the pick for speed and consistency: drop num_orientation_samples 20->8 and max_ik_solutions 16->8 (fewer candidates, the pose IK is the bottleneck), and bias the redundant base yaw via cost_joint_names/cost_joint_weights so MTC selects the lowest-base-yaw grasp IK and the omni-base stops pirouetting between picks. The cost_joint_names/cost_joint_weights ports require the SetupMTCBatchPoseIK support added in moveit_pro#20073 and the pose_ik seed-distance config from moveit_pro_example_ws#736; this objective therefore overlaps #736's pirouette work and is not standalone-mergeable to main until those land. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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[written by AI]
Closes PickNikRobotics/moveit_pro#19973.
Depends on PickNikRobotics/moveit_pro#20073 (the core PR that adds the
seed_distance_joint_*solver params and theSetupMTCBatchPoseIKcost_joint_*ports this config uses). Merge that first; until its image is available, this branch's CI must run against it (see CI note below).Problem
When picking in hangar_sim, the UR5e-on-Ridgeback spins its base a full ~360° "pirouette" before a grasp (#19973). The picking planning group includes the omni-base's continuous
rotational_yaw_jointas a redundant DOF, and the grasp IK resolves that base heading differently on each consecutive pick, accumulating into a full revolution.Approach
Use the new opt-in IK yaw weighting (from the core PR) to keep the base heading near its current value during picks, while leaving base translation free so the arm can still reach the boxes:
config/moveit/pose_ik_distance.yaml— weightrotational_yaw_joint(10×) in themanipulatorgroup'soptimize_distanceseed-distance cost.objectives/move_boxes_to_loading_zone_from_waypoint.xml— onSetupMTCBatchPoseIK, setcost_joint_names=rotational_yaw_joint,cost_joint_weights=50, andmax_ik_solutions=8so the solution-selection cost has several yaw alternatives per grasp to choose the least-rotation one from.The base-fixed alternative (
arm_onlygroup) was rejected: it reaches 0 boxes, confirming base mobility is required to pick.Release notes
Bug Fix: Fixed the mobile base spinning a full revolution before each pick in the hangar simulation; the base now keeps its heading and translates to reach boxes instead of pirouetting.
Manual verification
Reset-controlled harness, 3 runs per condition: full-revolution base spin drops from 2/3 of baseline runs to 0/3, cumulative base-yaw travel roughly halves, and 7 boxes are picked (most of any configuration tested — reachability preserved). Mock hardware only.
CI note
This config exercises ports that only exist in the core PR, so example_ws integration tests must build against that PR's image rather than the base-branch image. The paired-PR CI stacking (
needs:token against moveit_pro#20073) is not yet set up — do that before relying on this PR's CI, or merge the core PR first.Review
Reviewed alongside the core PR by
code-reviewer,platform-architect-bot, androboticist-bot(the config was in scope for all three);roboticist-botconfirmed the weighting is correctly scoped to themanipulatorgroup's single-DOF continuousrotational_yaw_joint.