Feature/manipulation scenario by AlexanderRex · Pull Request #3 · auraml/aurasim_ros_workspaces

AlexanderRex · 2025-12-17T07:40:49Z

Manipulation demo added
Whats included:

Franka robot model setup with Moveit packages and pick_and_place script to grasp cube in the scene

gemini-code-assist · 2025-12-17T07:42:20Z

Summary of Changes

Hello @AlexanderRex, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request establishes a new feature that enables a manipulation demonstration using a Franka robot model within a MoveIt2 framework, simulated in Isaac Sim. The changes provide a self-contained Docker environment for quick setup and execution, along with a Python script to perform a pick-and-place task. This significantly expands the system's robotic manipulation capabilities and provides a robust platform for further development and testing of robot arm control and path planning.

Highlights

New Manipulation Scenario: Introduced a comprehensive manipulation scenario featuring a Franka Emika Panda robot, integrated with MoveIt2 and Isaac Sim.
Dockerized Environment: A new Docker setup has been added to easily deploy and manage the manipulation environment, including all necessary ROS2 and MoveIt2 dependencies.
Pick-and-Place Demo: A Python script demonstrating a full pick-and-place sequence for grasping a cube has been implemented, showcasing the robot's capabilities within the simulated environment.
MoveIt2 Configuration: Extensive MoveIt2 configurations are included for the Panda robot, covering URDF/SRDF definitions, kinematics, joint limits, and various planning pipelines (OMPL, Pilz, CHOMP, BioIK, TRAC-IK).

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Code Review

This pull request adds a comprehensive manipulation demo for the Franka robot, including Docker setup, ROS2 packages for the robot description, MoveIt configuration, and a pick-and-place application. The overall structure is good, but there are several issues that need to be addressed. Most critically, a file referenced in setup.py is missing, which will cause the build to fail. There are also incorrect package dependencies and configuration paths that will lead to runtime errors. I've provided detailed comments on these issues, along with suggestions for improving the Docker setup and resolving inconsistencies in the configuration files.

gemini-code-assist · 2025-12-17T07:45:40Z

+    entry_points={
+        'console_scripts': [
+            'pick_and_place = moveit_apps.pick_and_place:main',
+            'move_to_pose = moveit_apps.move_to_pose_node:main'


The entry_points dictionary references moveit_apps.move_to_pose_node:main, but the file move_to_pose_node.py is not included in this pull request. This will cause the build to fail. Please either add the missing file or remove this entry point if it's not intended to be part of this package.

gemini-code-assist · 2025-12-17T07:45:40Z

+# Install Python executables
+install(PROGRAMS
+  DESTINATION lib/${PROJECT_NAME}
+)


The install(PROGRAMS ...) directive is empty. This can cause build warnings and is unnecessary code. Since this package does not appear to have any Python executables to install, this entire block should be removed.

gemini-code-assist · 2025-12-17T07:45:40Z

+
+    # ros2_control using FakeSystem as hardware
+    ros2_controllers_path = os.path.join(
+        get_package_share_directory("moveit_resources_panda_moveit_config"),


This launch file is loading ros2_controllers.yaml from moveit_resources_panda_moveit_config, which appears to be an external package. However, a ros2_controllers.yaml is provided within the panda_moveit_config package in this repository. This is likely to cause issues by using an unintended controller configuration. You should use the configuration file from the panda_moveit_config package included in this PR.

Suggested change

get_package_share_directory("moveit_resources_panda_moveit_config"),

get_package_share_directory("panda_moveit_config"),

gemini-code-assist · 2025-12-17T07:45:41Z

+  <build_depend>moveit_resources_panda_moveit_config</build_depend>
+  <build_depend>ros2_control</build_depend>
+  <build_depend>ros2_controllers</build_depend>
+  <build_depend>moveit_simple_controller_manager</build_depend>


The packages moveit_resources_panda_moveit_config and moveit_simple_controller_manager are used at runtime in the launch files but are declared as <build_depend>. They should be <exec_depend> or <depend> to ensure they are available in the runtime environment. Without this change, the launch files will fail when trying to find resources from these packages.

Suggested change

<build_depend>moveit_resources_panda_moveit_config</build_depend>

<build_depend>ros2_control</build_depend>

<build_depend>ros2_controllers</build_depend>

<build_depend>moveit_simple_controller_manager</build_depend>

<depend>moveit_resources_panda_moveit_config</depend>

<build_depend>ros2_control</build_depend>

<build_depend>ros2_controllers</build_depend>

<depend>moveit_simple_controller_manager</depend>

gemini-code-assist · 2025-12-17T07:45:41Z

+COPY humble_ws/src /tmp/humble_ws_src
+RUN for pkg in $PACKAGES; do \
+      if [ -d "/tmp/humble_ws_src/$pkg" ]; then \
+        cp -r "/tmp/humble_ws_src/$pkg" /root/humble_ws/src/; \
+      else \
+        echo "Warning: Package $pkg not found in humble_ws/src"; \
+      fi \
+    done && \
+    rm -rf /tmp/humble_ws_src


The COPY humble_ws/src /tmp/humble_ws_src instruction copies the entire source directory. This can be inefficient for Docker's layer caching, as any change in humble_ws/src will invalidate this layer and trigger a rebuild of subsequent layers, even if the changed files are not part of the packages being used. For better build performance, consider copying only the necessary package directories explicitly.

gemini-code-assist · 2025-12-17T07:45:41Z

+  <description>TODO: Package description</description>
+  <maintainer email="alex.kalm.dev@gmail.com">alexthunderrex</maintainer>
+  <license>TODO: License declaration</license>


The package description and license are marked as TODO. Please fill these out with appropriate information to make the package metadata complete.

Suggested change

<description>TODO: Package description</description>

<maintainer email="alex.kalm.dev@gmail.com">alexthunderrex</maintainer>

<license>TODO: License declaration</license>

<description>Python nodes for MoveIt2 applications like pick and place.</description>

<maintainer email="alex.kalm.dev@gmail.com">alexthunderrex</maintainer>

<license>Apache-2.0</license>

gemini-code-assist · 2025-12-17T07:45:41Z

+    description='TODO: Package description',
+    license='TODO: License declaration',


The package description and license are marked as TODO. Please fill these out with appropriate information.

Suggested change

description='TODO: Package description',

license='TODO: License declaration',

description='Python nodes for MoveIt2 applications like pick and place.',

license='Apache-2.0',

gemini-code-assist · 2025-12-17T07:45:41Z

+
+  <maintainer email="dave@dav.ee">Dave Coleman</maintainer>
+
+  <license>BSD</license>


The package.xml specifies the license as BSD, but the LICENSE file in the same directory is Apache 2.0, and the README.md also states the license is Apache 2.0. The license declaration should be consistent across all files.

Suggested change

<license>BSD</license>

<license>Apache-2.0</license>

gemini-code-assist · 2025-12-17T07:45:41Z

+            <joint name="panda_finger_joint2">
+                <param name="mimic">panda_finger_joint1</param>
+                <param name="multiplier">1</param>
+
+                <state_interface name="position">
+                  <param name="initial_value">0.0</param>
+                </state_interface>
+                <state_interface name="velocity">
+                    <param name="initial_value">0.0</param>
+                </state_interface>
+            </joint>


You have defined state_interface for the mimicked joint panda_finger_joint2. The standard practice for ros2_control is to not define command or state interfaces for mimicked joints in the URDF/XACRO. The controller manager should handle propagating the state. Defining it here can be confusing and might lead to issues with other hardware interfaces. It's better to only define the mimic parameters.

<joint name="panda_finger_joint2"> <param name="mimic">panda_finger_joint1</param> <param name="multiplier">1</param> </joint>

gemini-code-assist · 2025-12-17T07:45:41Z

+  <group_state group="hand" name="close1">
+    <joint name="panda_finger_joint1" value="0"/>
+    <joint name="panda_finger_joint2" value="0"/>
+  </group_state>
+  <group_state group="hand" name="close2">
+    <joint name="panda_finger_joint1" value="0.022"/>
+    <joint name="panda_finger_joint2" value="0.022"/>
+  </group_state>


This file seems to be generated from panda_arm_hand.srdf.xacro, but the group_state for the hand group is inconsistent. The xacro file defines a close state, but this generated file has close1 and close2. This suggests the file is either outdated or was manually edited, which breaks the generation chain. Please regenerate the SRDF from the xacro source to ensure consistency. The names close1 and close2 are also not very descriptive.

AlexanderRex added 4 commits December 8, 2025 16:16

basic panda demo added

70dcf3c

moveit apps package added

9b0eb40

small refactor

21ba8d4

pose node added

0ad3ce1

AlexanderRex requested a review from rahul-auraml December 17, 2025 07:41

gemini-code-assist Bot reviewed Dec 17, 2025

View reviewed changes

new move to pose scripts added

448d67c

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	get_package_share_directory("moveit_resources_panda_moveit_config"),
	get_package_share_directory("panda_moveit_config"),

		description='TODO: Package description',
		license='TODO: License declaration',


		<maintainer email="dave@dav.ee">Dave Coleman</maintainer>

		<license>BSD</license>

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