Docs: Add Tutorial 3 place waypoints#607
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davetcoleman merged 3 commits intov9.2from May 5, 2026
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davetcoleman
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To get into 9.2 this needs to target a patch release right?
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good catch @davetcoleman |
Companion change for the Tutorial 3 (Perception & ML) docs refresh in moveit_pro. Adds the two joint waypoints that the AprilTag picker's two-stage place uses via Move to Waypoint with keep_orientation_link_names=grasp_link: - Above Tray Place Simple — robot hovering above the placement tray, gripper pointing down - Tray Place Simple — robot at the tray surface, gripper pointing down, ready to release The tutorial walks readers through building the Objectives that use these waypoints, so the Objectives themselves don't need to ship here. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
Companion to the Tutorial 3 (Perception & ML) docs refresh in
moveit_pro(PR #18782). Adds the two joint waypoints the AprilTag picker's two-stage place uses viaMove to Waypointwithkeep_orientation_link_names=grasp_link:Above Tray Place Simple— robot hovering above the placement tray, gripper pointing downTray Place Simple— robot at the tray surface, gripper pointing down, ready to releaseThe tutorial walks readers through building the Objectives that consume these waypoints, so the Objectives themselves don't need to ship in
lab_sim. The waypoints have to be saved here because their joint values can't easily be described in prose.Test plan
lab_simand confirm the two new waypoints appear in the Waypoints panel🤖 Generated with Claude Code