From a306e594be27fd0a6e8d3bdabac6c08d071e13c2 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Fri, 1 May 2026 14:15:05 -0400 Subject: [PATCH] docs(tutorials): add Tutorial 3 place waypoints MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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) --- src/lab_sim/waypoints/ur_waypoints.yaml | 86 +++++++++++++++++++++++++ 1 file changed, 86 insertions(+) diff --git a/src/lab_sim/waypoints/ur_waypoints.yaml b/src/lab_sim/waypoints/ur_waypoints.yaml index e9edaa6f..0f8d8026 100644 --- a/src/lab_sim/waypoints/ur_waypoints.yaml +++ b/src/lab_sim/waypoints/ur_waypoints.yaml @@ -1116,3 +1116,89 @@ twist: [] wrench: [] name: Wrist 2 Min +- description: '' + favorite: false + joint_group_names: + - gripper + - linear_actuator + - manipulator + joint_state: + effort: [] + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + name: + - robotiq_85_left_knuckle_joint + - linear_rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + position: + - 0.4304390605935317 + - -0.4378567680480089 + - -0.32506040849446244 + - -1.3786813884060156 + - 1.5681700648384158 + - -1.961524554294909 + - -1.720721876348498 + - 0.16537484166715177 + velocity: [] + multi_dof_joint_state: + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + joint_names: [] + transforms: [] + twist: [] + wrench: [] + name: Above Tray Place Simple +- description: '' + favorite: false + joint_group_names: + - gripper + - linear_actuator + - manipulator + joint_state: + effort: [] + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + name: + - robotiq_85_left_knuckle_joint + - linear_rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + position: + - 0.4293739997326402 + - -0.4053106793283895 + - -0.3946348859742542 + - -0.9263280141317556 + - 1.4578660059546231 + - -1.8691029152454264 + - -1.675182968077337 + - 0.16331769984549638 + velocity: [] + multi_dof_joint_state: + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + joint_names: [] + transforms: [] + twist: [] + wrench: [] + name: Tray Place Simple