Interactive motion planning
Plan and execute arm motions with interactive markers in RViz/MoveIt.
20 project-authored proposals · taxonomy v1.1 · 0 new benchmark runs. Verifiers and partial-credit rules below are designs, not executed results.
- Typical applications
- RViz · MoveIt 2
- Class GUI-need label
G3· GUI-only
Task proposals · 20
Expand to inspect the complete original wording and proposed checks. Original proposal text remains English in both interfaces.
R07.09.01.02-T01 Drag the Panda end effector to a marked goal and execute
Original instruction
RViz is open with MoveIt 2 demo for the Panda (mock controllers). A TF frame 'goal_1' is shown. Drag the end-effector interactive marker so the hand frame matches goal_1 within 1 cm and 5 deg, plan with OMPL RRTConnect and execute.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometry- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 2 / 5
Proposed verifier
Grader records /joint_states and computes FK of the final state: position error <1 cm, orientation error <5 deg to goal_1; an executed trajectory exists on the controller action log. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
60% final pose within tolerance (two-thirds of that if within 3 cm); 40% plan executed through MoveIt.
R07.09.01.02-T02 Add table and post collision objects and plan around them
Original instruction
In the RViz MotionPlanning panel (Scene Objects tab), add a box 'table' 1.2x0.8x0.05 m centered at (0.5, 0, 0.2) and a cylinder 'post' r=0.04 h=0.6 at (0.45, 0.1, 0.5) in panda_link0. Publish the scene, then plan and execute from 'ready' to the marked frame 'goal_far' without collisions.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
click· Point & clicktype· Text & formsdrag· Drag & dropgeom· Precise geometry- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader calls /get_planning_scene: both objects with dimensions/poses within 1 cm; executed trajectory densely checked for zero collisions with grader's scene copy; final EE within 1 cm/5 deg of goal_far. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
35% objects exact; 15% scene published; 30% trajectory collision-free; 20% goal reached.
R07.09.01.02-T03 Configure planner settings and plan to a named state
Original instruction
In RViz MotionPlanning, set planning pipeline OMPL with planner RRTConnect, planning time 5 s, 10 attempts, velocity and acceleration scaling 0.3, then plan from the current state to named state 'ready' and execute. Export the scene to output/session.scene.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
click· Point & clicktype· Text & forms- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader reads the MotionPlanRequest captured on /move_action: planner id, allowed time, attempts and scaling factors exact; final joints within 0.01 rad of 'ready'; scene file exists and parses. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
50% request parameters exact; 30% reached 'ready'; 20% scene exported.
R07.09.01.02-T04 Approach a grasp pose with an orientation-constrained plan
Original instruction
In RViz with the UR5e + Robotiq demo, move the marker to the pre-grasp frame 'pregrasp' 10 cm above the mug, plan and execute; then select the stored path constraint 'gripper_down' and plan the 10 cm approach to 'grasp', keeping the tool Z axis within 10 deg of vertical throughout. Execute both.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometryclick· Point & click- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 4 / 5
Proposed verifier
Grader checks executed trajectories: first ends at pregrasp (<1 cm), second ends at grasp (<5 mm), tool Z deviation <=10 deg at every 10 ms sample, constraint name present in the request. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
30% pregrasp reached; 20% constraint selected; 30% orientation held; 20% grasp reached.
R07.09.01.02-T05 Set a joint-space goal with the RViz joint sliders
Original instruction
In the RViz MotionPlanning panel Joints tab, set the Panda goal to joints (0.0, -0.4, 0.0, -2.1, 0.0, 1.7, 0.8) rad using the sliders and fields, plan and execute. Then save this goal as stored state 'inspect' in the warehouse.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & droptype· Text & forms- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader: final /joint_states within 0.01 rad per joint; warehouse database (sqlite) contains robot state 'inspect' with the same values. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
60% final joint state; 40% stored state saved correctly.
R07.09.01.02-T06 Generate a MoveIt 2 config package with the Setup Assistant
Original instruction
Use the MoveIt Setup Assistant on input/arm6_description (URDF + meshes) to create package arm6_moveit_config in ~/ws/src: self-collision matrix at 10,000 samples, planning group 'arm' (base_link to tool0) and 'gripper', end effector 'hand', poses 'home' and 'stow' from input/poses.yaml, ros2_control mock controllers. Launch demo and plan to 'stow'.
- Platforms
lin· Linux- Applications
- MoveIt Setup Assistant · RViz
- Interfaces
desk· Desktop GUI- GUI need · task setting
G2· GUI-essential- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
click· Point & clicktype· Text & forms- Work product
WP06· Code/engineering- Conditions
- None declared
- Proposed difficulty
- 4 / 5
Proposed verifier
Grader parses the generated SRDF and configs: groups/chains exact, EE defined, named poses within 0.001 rad, disabled-collision pairs F1 >=0.9 vs reference; colcon build succeeds and demo launch plans to 'stow'. Agent has no terminal or text editor; a hand-written SRDF lacks the .setup_assistant file and fails.
Proposed partial credit
35% groups and EE; 20% named poses; 20% collision matrix; 25% package builds and plans.
R07.09.01.02-T07 Move a held part between shelves using attach and detach in RViz
Original instruction
In the Panda shelf scene, attach the box 'part_7' on shelf A to panda_hand via Scene Objects, plan through collision-free interactive-marker goals to the slot on shelf B (place frame 'slot_B'), detach it there and return to 'ready'. The part must never intersect the shelves.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometryclick· Point & click- Work product
WP11· Game/sim state- Conditions
long· Long-horizon- Proposed difficulty
- 5 / 5
Proposed verifier
Grader replays the scene history: part attached before any motion and detached at slot_B within 1 cm/5 deg; all executed trajectories collision-free including the attached body; final state 'ready'. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
20% attach correct; 40% collision-free transfer; 25% placement accuracy; 15% returned to ready.
R07.09.01.02-T08 Plan a simultaneous dual-arm reach in RViz
Original instruction
With the dual-UR5e demo in RViz, choose planning group 'both_arms' and drag both end-effector markers to frames 'left_goal' and 'right_goal' (each within 1 cm, 5 deg), plan one joint trajectory for both arms and execute without arm-arm collision.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometry- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 4 / 5
Proposed verifier
Grader: single executed trajectory for group both_arms; final EE poses within tolerance; self-collision check at 10 ms resolution clean. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
25% group selection and single plan; 50% both goals reached (half each); 25% no collisions.
R07.09.01.02-T09 Plan a linear move with the Pilz industrial planner
Original instruction
In RViz, select the pilz_industrial_motion_planner pipeline with planner LIN, max velocity scaling 0.1, set start state to stored state 'transport' and goal to marker frame 'drop', plan and execute. The executed TCP path must be straight.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
click· Point & clickdrag· Drag & dropgeom· Precise geometry- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader checks the request (pipeline 'pilz_industrial_motion_planner', planner 'LIN', scaling 0.1, start state 'transport') and the TCP path: max deviation from straight line <2 mm; final pose within 1 cm of 'drop'. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
40% request settings; 30% straightness; 30% goal reached.
R07.09.01.02-T10 Compare three planners in RViz and execute the shortest path
Original instruction
From 'ready' to marker frame 'goal_shelf', plan in RViz with RRTConnect, PRMstar and Pilz PTP (one plan each, default settings), record planning time and joint-path length for each in output/planners.csv, then execute only the shortest plan.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
click· Point & clickdrag· Drag & drop- Work product
WP02· Records/table- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader records /display_planned_path during the session: three plans with the named planners exist; CSV values match each logged plan within 2%; executed trajectory equals the logged plan with the shortest joint length. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
30% three plans made; 40% CSV values; 30% shortest one executed.
R07.09.01.02-T11 Import a planning scene file and store a named query
Original instruction
In RViz MotionPlanning, import input/cell_v3.scene through Scene Objects, publish it, and save the current goal (marker at frame 'q_pick') as query 'pick_v3' in the warehouse database.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
click· Point & clicktype· Text & forms- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 2 / 5
Proposed verifier
Grader: /get_planning_scene contains all 7 objects of the file with matching poses; warehouse sqlite contains query 'pick_v3' with goal pose within 1 cm of q_pick. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
60% scene imported and published; 40% query stored correctly.
R07.09.01.02-T12 Probe workspace reachability by dragging the marker to fiducials
Original instruction
The scene shows 8 numbered spheres around the Kinova Gen3. Drag the end-effector marker to each sphere center (tool Z pointing down) and record in output/reach.csv whether IK finds a collision-free solution (marker stays non-red). Do not execute any motion.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
drag· Drag & dropvis· Visual judgmentgeom· Precise geometry- Work product
WP12· Answer/decision- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader computes reachability per sphere with its own IK sampling; CSV must match for all 8 spheres; no trajectory executed (controller log empty). Agent has no terminal; IK service calls from any node other than RViz are detected by graph introspection and fail.
Proposed partial credit
50% spheres 1-4 correctly classified; 50% spheres 5-8 correctly classified (pro-rata per sphere); zero if any motion executed.
R07.09.01.02-T13 Plan through a sensed gap using the Octomap
Original instruction
The depth camera feeds an Octomap of a cluttered bin into the planning scene. In RViz, clear stale octomap data, wait for a fresh scan, then plan and execute the gripper into the narrow gap marked 'gap_target' with clearance >=1 cm from voxels, and back out to 'ready'.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
click· Point & clickdrag· Drag & dropgeom· Precise geometryvis· Visual judgment- Work product
WP11· Game/sim state- Conditions
hidden· Hidden/stale state- Proposed difficulty
- 4 / 5
Proposed verifier
Grader logs the octomap snapshot used at planning time: it must post-date the clear action; executed trajectories keep >=1 cm from occupied voxels of a reference map; EE reaches gap_target within 1 cm. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
20% octomap cleared and refreshed; 40% clearance maintained; 25% gap reached; 15% backed out.
R07.09.01.02-T14 Script the scene setup and plan with moveit_py (control pair of T02)
Original instruction
Control pair of T02: without RViz, use moveit_py (or MoveGroupInterface) to add the same 'table' and 'post' collision objects, plan from 'ready' to frame 'goal_far' and execute on the mock controllers. Save the script as output/plan_t14.py.
- Platforms
lin· Linux- Applications
- MoveIt 2 · Python
- Interfaces
term· Terminalapi· API/SDK- GUI need · task setting
CL· CLI-sufficient- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
code· Code & commands- Work product
WP06· Code/engineering- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Control pair of T02: same scene and trajectory checks (objects within 1 cm, zero collisions, goal within 1 cm/5 deg); script must rerun deterministically in a clean container.
Proposed partial credit
35% objects exact; 30% collision-free; 20% goal reached; 15% script reruns.
R07.09.01.02-T15 Reach a goal with the elbow-up IK branch only
Original instruction
The UR10e must reach frame 'weld_start' with the elbow-up, wrist-down configuration (shoulder_lift in [-2.0,-1.0] rad, elbow in [0.5,2.0] rad). In RViz, use the marker and joint sliders to obtain this IK branch, plan and execute without passing near the J5 singularity (|wrist_2|>0.15 rad).
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometryvis· Visual judgment- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 4 / 5
Proposed verifier
Grader: final joints within the required ranges and FK within 5 mm/3 deg of weld_start; |wrist_2|>0.15 rad at every trajectory sample. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
40% correct IK branch; 30% goal pose; 30% singularity avoided.
R07.09.01.02-T16 Configure RViz displays to show trails and save the layout
Original instruction
In RViz, enable Show Trail and Loop Animation for the Planned Path, set the Scene Geometry alpha to 0.5, add a TF display limited to panda_hand and goal frames, and save the configuration as output/planning.rviz.
- Platforms
lin· Linux- Applications
- RViz
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
click· Point & clicktype· Text & forms- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 2 / 5
Proposed verifier
Grader parses the saved .rviz YAML: flags and alpha exact, TF display frame filters correct; config loads cleanly in a fresh RViz. Agent has no terminal or text editor, and the file-write audit log must show the .rviz saved by the rviz2 process.
Proposed partial credit
60% display settings exact; 20% TF filter; 20% file loads cleanly.
R07.09.01.02-T17 Teach and store six inspection states in the MoveIt warehouse
Original instruction
Using the RViz marker, move the Panda camera link to each of the 6 inspection frames 'insp_1'..'insp_6' (camera optical axis pointing at the part center within 5 deg), save each as stored state 'insp_N' in the warehouse and execute the sequence once.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
CL· CLI-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometry- Work product
WP08· App/system state- Conditions
- None declared
- Proposed difficulty
- 3 / 5
Proposed verifier
Grader reads the warehouse: 6 states present; FK of each within 1 cm of its frame and camera axis within 5 deg of the part center; execution log shows the 6 states visited in order. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
60% states accurate (10 pts each); 20% names correct; 20% sequence executed in order.
R07.09.01.02-T18 Carry an open cup upright across a cluttered table
Original instruction
In the Panda kitchen scene, the cup 'cup_1' is attached to the hand. Define an orientation constraint (cup axis within 10 deg of vertical) in the RViz panel's constraint editor, store it, and plan and execute from 'counter_pick' to 'table_place' around the vase and bowl.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & dropgeom· Precise geometryclick· Point & click- Work product
WP11· Game/sim state- Conditions
long· Long-horizon- Proposed difficulty
- 5 / 5
Proposed verifier
Grader checks the stored constraint (axis, tolerance) in the warehouse; executed path sampled at 10 ms: cup tilt <=10 deg, zero collisions with vase/bowl/table, end pose within 1 cm of table_place. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
25% constraint defined; 35% tilt held; 25% collision-free; 15% placed on target.
R07.09.01.02-T19 Diagnose why planning fails in a broken scene and fix it
Original instruction
Planning from the current state to 'pick_A' fails in the Fetch arm scene. Use RViz collision visualization and the planning scene objects to find the causes (a stale ghost object and a start state in self-collision), fix them without deleting real fixtures, then plan and execute to 'pick_A'.
- Platforms
lin· Linux- Applications
- RViz · MoveIt 2
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
G2· GUI-essential- Interaction primitives
click· Point & clickvis· Visual judgmenthover· Hover & context- Work product
WP08· App/system state- Conditions
hidden· Hidden/stale state- Proposed difficulty
- 3 / 5
Proposed verifier
Grader: ghost object removed, all 4 real fixtures still present with original poses, start state moved out of collision, successful execution to pick_A within 1 cm. Agent has no terminal; any planning/scene request from a node other than RViz (graph introspection by grader) fails the task.
Proposed partial credit
30% ghost removed; 20% fixtures kept; 20% start state fixed; 30% goal reached.
R07.09.01.02-T20 Trace a square on a whiteboard with MoveIt Servo teleop
Original instruction
MoveIt Servo runs on the simulated UR5e with a pen tool and a whiteboard plane. Using the RViz interactive marker teleop (live servoing), draw a 20 cm square centered on 'board_center' with the pen tip within 5 mm of the plane while drawing and corners within 1 cm.
- Platforms
lin· Linux- Applications
- RViz · MoveIt Servo
- Interfaces
desk· Desktop GUI- GUI need · task setting
G3· GUI-only- GUI need · ordinary access
AP· API-sufficient- Interaction primitives
drag· Drag & droprt· Real-time controlpath· Continuous pathgeom· Precise geometry- Work product
WP11· Game/sim state- Conditions
- None declared
- Proposed difficulty
- 5 / 5
Proposed verifier
Grader logs pen-tip pose at 100 Hz: contact segments within 5 mm of the plane; fitted square side 20+/-1 cm, corner error <1 cm, edge straightness RMS <3 mm. Agent has no terminal; twist commands from any publisher other than the RViz teleop marker are detected by graph introspection and fail.
Proposed partial credit
25% stays on plane; 35% square geometry; 25% corner accuracy; 15% straightness.
Mapped research references
No benchmark reference is assigned to this class in the current mapping.