R07.09.01.02 · 任务小类

交互式运动规划

Interactive motion planning

Plan and execute arm motions with interactive markers in RViz/MoveIt.

20 条本项目编写的提案 · 分类 v1.1 · 新增基准运行 0 次。下方验证方式与部分得分规则是设计，不是执行结果。

典型应用: RViz · MoveIt 2
小类 GUI 需求标签: G3 · 仅 GUI

任务提案 · 20

展开查看完整原文与建议检查方式；两种界面均保留提案英文原文。

R07.09.01.02-T01 Drag the Panda end effector to a marked goal and execute

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 2 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单 drag · 拖放 geom · 精确几何
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

50% request parameters exact; 30% reached 'ready'; 20% scene exported.

R07.09.01.02-T04 Approach a grasp pose with an orientation-constrained plan

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何 click · 指向与点击
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 4 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

60% final joint state; 40% stored state saved correctly.

R07.09.01.02-T06 Generate a MoveIt 2 config package with the Setup Assistant

原始指令

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'.

平台: lin · Linux
应用: MoveIt Setup Assistant · RViz
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G2 · GUI 必要
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 4 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何 click · 指向与点击
工作产物: WP11 · 游戏 / 仿真状态
条件: long · 长流程
提案难度: 5 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 4 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

40% request settings; 30% straightness; 30% goal reached.

R07.09.01.02-T10 Compare three planners in RViz and execute the shortest path

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 drag · 拖放
工作产物: WP02 · 记录 / 表格
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 2 / 5

建议验证方式

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.

建议部分得分

60% scene imported and published; 40% query stored correctly.

R07.09.01.02-T12 Probe workspace reachability by dragging the marker to fiducials

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: drag · 拖放 vis · 视觉判断 geom · 精确几何
工作产物: WP12 · 答案 / 决策
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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'.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: click · 指向与点击 drag · 拖放 geom · 精确几何 vis · 视觉判断
工作产物: WP11 · 游戏 / 仿真状态
条件: hidden · 隐藏 / 过期状态
提案难度: 4 / 5

建议验证方式

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.

建议部分得分

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)

原始指令

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.

平台: lin · Linux
应用: MoveIt 2 · Python
交互表面: term · 终端 api · API / SDK
GUI 需求 · 任务设定: CL · CLI 足够
GUI 需求 · 普通权限: AP · API 足够
交互原语: code · 代码与命令
工作产物: WP06 · 代码 / 工程
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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).

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何 vis · 视觉判断
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 4 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: click · 指向与点击 type · 文字与表单
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 2 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: CL · CLI 足够
交互原语: drag · 拖放 geom · 精确几何
工作产物: WP08 · 应用 / 系统状态
条件: 未声明
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 geom · 精确几何 click · 指向与点击
工作产物: WP11 · 游戏 / 仿真状态
条件: long · 长流程
提案难度: 5 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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'.

平台: lin · Linux
应用: RViz · MoveIt 2
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: G2 · GUI 必要
交互原语: click · 指向与点击 vis · 视觉判断 hover · 悬停与上下文
工作产物: WP08 · 应用 / 系统状态
条件: hidden · 隐藏 / 过期状态
提案难度: 3 / 5

建议验证方式

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.

建议部分得分

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

原始指令

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.

平台: lin · Linux
应用: RViz · MoveIt Servo
交互表面: desk · 桌面 GUI
GUI 需求 · 任务设定: G3 · 仅 GUI
GUI 需求 · 普通权限: AP · API 足够
交互原语: drag · 拖放 rt · 实时控制 path · 连续路径 geom · 精确几何
工作产物: WP11 · 游戏 / 仿真状态
条件: 未声明
提案难度: 5 / 5

建议验证方式

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.

交互式运动规划

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建议部分得分

原始指令

建议验证方式

建议部分得分

已有研究映射

同工作流族的小类