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Loading the workspace for planning

The grasping runtime now distinguishes between workspace calibration files and the currently active runtime scene.

  • workspace_creation_node.py creates or edits workspace YAML files
  • scene_manager_core.py owns the shared workspace-document loading, normalization, and persistence helpers used by calibration and runtime scene activation
  • scene_manager_node.py resolves and activates one workspace file as the current runtime scene
  • motion_execution_node.py and feasibility_service_node.py consume the active scene rather than owning workspace parsing themselves

To run the system without a robot, use the use_demo:=true launch parameter.

This checkout currently includes motion_execution.launch.py under grasping_control/launch. That launch now starts scene_manager_node together with the arm execution and optional feasibility nodes.

Each robot stack (TM, UR, etc.) should provide its own launch file for motion execution. The launch file should include the motion_execution.launch.py from this package and have its own motion configuration and workspace configuration files.

The robot-specific launch should provide, at minimum:

  • a motion configuration file for motion_execution_node
  • a default scene reference for scene_manager_node, typically default_scene_package plus workspace_file
  • matching scene API names when integrating with a mobile-manipulator scene registry

For mobile manipulation, the expected flow is:

  1. mobile-manipulator scene_registry_node resolves a scene name from scenes.yaml
  2. grasping scene_manager_node activates the referenced workspace file
  3. arm execution and feasibility nodes observe the updated /active_scene state

This means the workspace YAML on disk is not the live runtime source of truth after startup. The live source of truth is the scene currently held by scene_manager_node and published through GetActiveScene plus /active_scene.

Following are some examples,