pilz_industrial_motion_planner by jschleicher · Pull Request #461 · moveit/moveit_tutorials

jschleicher · 2020-02-24T13:22:21Z

Tutorial for ~~trapezoidal~~ pilz_industrial_motion_planner moveit/moveit#1893

* remove exclamation mark * put external link in-place

felixvd

Lots of spelling and nitpicks, I'm not sure how best to contribute those. Very much looking forward to seeing this merged!

felixvd · 2020-02-25T11:44:45Z

doc/trapezoidal_industrial_planner/trapezoidal_industrial_planner.rst

+.. code:: yaml
+
+    cartesian_limits:
+      max_trans_vel: 1


We should consider spelling these out.

doc/trapezoidal_industrial_planner/trapezoidal_industrial_planner.rst

felixvd · 2020-02-25T12:22:39Z

doc/trapezoidal_industrial_planner/trapezoidal_industrial_planner.rst

+
+For all commands the planner needs to know the limitations of each robot
+joint. The limits used are calculated from the limits set in the urdf as
+well as the limits set on the parameter server (usually put there by


I would note that the file is generated by the setup assistant and the average user does not need to worry about it.

I've rephrased the paragraph; is it better now?

@felixvd

Thanks to @felixvd

@felixvd

Thanks to @felixvd for the review comments!

felixvd · 2020-02-26T01:32:05Z

One more thought: This seems to have had multiple names, from "simple" command planner, the to "industrial motion", and now "trapezoidal". The changes all make sense, but I wonder if there has been a previous discussion on the name from the user perspective. Which name is easiest to remember for new users? Should these motions just be considered part of the "basic" MoveIt package, without an extra name? Should they maybe have their own move_ptp, move_lin, move_circ convenience interfaces? Not trying to advocate for this, but it's worth thinking about. UX is important, after all.

felixvd · 2020-02-28T11:00:19Z

Also I just noticed that we assume that the user knows what "standard robot motions" like PTP, LIN, CIRC are, but that's not a given. Industrial robot manuals always explain these in detail, and to my knowledge they are diligent about it, because the difference between joint space and cartesian space is not intuitive to new users.

It would be very helpful if we had 3 animations side by side of the robot arm executing the three different movements, starting and ending at the same pose, like this. With those, a sentence like this could be enough: "PTP motions move linearly in joint space, LIN motions move linearly in cartesian space (the "real" 3D world), and CIRC motions perform an arc through a midpoint in cartesian space. For more explanation on how these motions work, look at this robotics tutorial."

Maybe you know of a tutorial that we could link to?

jschleicher · 2020-03-09T15:48:12Z

This seems to have had multiple names, from "simple" command planner, the to "industrial motion", and now "trapezoidal". The changes all make sense, but I wonder if there has been a previous discussion on the name from the user perspective. Which name is easiest to remember for new users? Should these motions just be considered part of the "basic" MoveIt package, without an extra name? Should they maybe have their own move_ptp, move_lin, move_circ convenience interfaces? Not trying to advocate for this, but it's worth thinking about. UX is important, after all.

In the current implementation the user has to load the corresponding pipeline, so using OMPL and pilz_industrial_motion_planner without restart is left for future extension.
Regarding the name we have discussed this again - and like to stay with pilz_industrial_motion_planner. Okay?

felixvd · 2020-03-10T12:08:39Z

I have no problem with the name, but can you explain what you mean by loading the corresponding pipeline? I might have overlooked something. Does that mean you can't use "free motion" planning with OMPL and this plugin at the same time?

gavanderhoorn · 2020-03-10T12:15:44Z

Does that mean you can't use "free motion" planning with OMPL and this plugin at the same time?

MoveIt can't load two planners into the same move_group right now, so: no, you can't use both OMPL and the Pilz planner at the same time.

Related: moveit/moveit#1257.

felixvd · 2020-03-10T13:11:15Z

😱

gavanderhoorn · 2020-03-10T13:25:13Z

😱

henningkayser

Great documentation, I think it explains the different modes really well. There are some minor nits that should be fixed before merging.

doc/trapezoidal_industrial_planner/trapezoidal_industrial_planner.rst

doc/move_group_interface/src/move_group_interface_tutorial.cpp

henningkayser · 2020-10-09T15:34:10Z

doc/trapezoidal_industrial_planner/trapezoidal_industrial_planner.rst

+
+-  ``planner_id``: LIN
+-  ``group_name``: name of the planning group
+-  ``max_velocity_scaling_factor``: scaling factor of maximal Cartesian


Are these really used for Cartesian velocity instead for joint velocities? This might be slightly confusing since the factors apply to joint velocities following the documentation in the message definition.

Good question. The implementation scales the cartesian velocity, so that e.g. 1m/s maximum speed is executed with 0.25m/s for a scaling_factor = 0.25. Isn't that what you'd expect as a user of the planner?

I agree that it's probably what I would expect from the planner. It's just not how it's defined in the message, there it's documented as the factor for joint velocities. I'm fine with leaving it as is for now. My only concern is that this will technically allow to move joints at full speed which might be a surprise if you expect the usual behavior.

Yes, but the name is the same as the scaling factor the move_group applies to each maximum joint velocity.

In cartesian space, I would agree if it was called max_cartesian_velocity_scaling_factor. But at that point, why not just make it max_cartesian_velocity? That's very desirable anyway, I remember it has come up in issues before.

@henningkayser

Thanks to @henningkayser

so that the folder is consistent with its content

jschleicher · 2020-11-13T16:12:51Z

@henningkayser Could you please merge the tutorials as follow-up of moveit/moveit#1893 ?

* Add Pilz Industrial Motion Planner tutorial (#461) Co-authored-by: jschleicher <j.schleicher@pilz.de> Co-authored-by: Dave Coleman <dave@picknik.ai>

jschleicher and others added 4 commits February 24, 2020 13:10

initial doc section for pilz trapezoidal industrial planner

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documentation for trapezoidal industrial planner

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adjust namespaces

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typos

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* remove exclamation mark * put external link in-place

jschleicher mentioned this pull request Feb 25, 2020

Pilz planner merge moveit/moveit#1893

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felixvd reviewed Feb 25, 2020

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jschleicher added 2 commits February 25, 2020 14:36

incorporate review comments

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Thanks to @felixvd

clarify trajectory_start

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Thanks to @felixvd for the review comments!

jschleicher changed the title ~~Trapezoidal planner~~ pilz_industrial_motion_planner Mar 9, 2020

rename to pilz_industrial_motion_planner

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jschleicher mentioned this pull request Mar 19, 2020

Integration of Descartes for Cartesian Path Planning moveit/moveit#467

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henningkayser reviewed Oct 9, 2020

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Thanks to @henningkayser

jschleicher marked this pull request as ready for review October 15, 2020 14:03

henningkayser approved these changes Oct 15, 2020

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jschleicher added 2 commits November 13, 2020 16:24

typo

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fix directory name

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so that the folder is consistent with its content

Merge remote-tracking branch 'upstream/master' into trapezoidal_planner

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JafarAbdi approved these changes Nov 18, 2020

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JafarAbdi merged commit 9a25cf0 into moveit:master Nov 18, 2020

jschleicher deleted the trapezoidal_planner branch January 8, 2021 10:34

martiniil pushed a commit to PilzDE/moveit_tutorials that referenced this pull request Feb 3, 2021

Add Pilz Industrial Motion Planner tutorial (moveit#461)

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martiniil mentioned this pull request Feb 3, 2021

Add Pilz Industrial Motion Planner tutorial (#461) #583

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jschleicher added a commit that referenced this pull request Mar 11, 2021

Add Pilz Industrial Motion Planner tutorial (#461) (#583)

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* Add Pilz Industrial Motion Planner tutorial (#461) Co-authored-by: jschleicher <j.schleicher@pilz.de> Co-authored-by: Dave Coleman <dave@picknik.ai>

jschleicher mentioned this pull request Nov 4, 2021

Pilz planner doesn't consider obstacles? moveit/moveit#2942

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