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robonix.service.roboarm.ik

Roboarm-style Python IK executor service for Piper manipulation.

README

roboarm_ik_rbnx

Robonix-managed manipulation executor ported from /home/syswonder/lhw/roboarm.

It is an alternative to piper_moveit_rbnx: start exactly one of them in robonix_manifest.yaml. Both expose robonix/service/manipulation/*; running both at the same time can make atlas resolution ambiguous and can double-command the arm.

Execution path:

pick_skill/yolo_grasp -> manipulation/execute_grasp
  -> roboarm IK on Piper URDF link6
  -> /arm/joint_command
  -> piper_ctl_rbnx
  -> CAN

ROS compatibility:

  • subscribes /arm/joint_states_single (proprio feedback from primitive/arm/joint_states)
  • publishes /arm/joint_command (joint target for primitive/arm/joint_command)
  • exposes /moveit_control/reset as std_srvs/srv/Trigger

It does not start MoveIt, move_group, or the C++ moveit control node.

For pick_skill.put_down, configure put_down_joints_deg with six joint angles in degrees. The executor carries the held object to that pose, opens the gripper there, and then returns the arm to teach_safe_joints_deg. If the put-down pose cannot be reached, it reports failure without opening the gripper.