Skip to content

scene_manager.md

Latest commit

 

History

History
73 lines (47 loc) · 3.11 KB

scene_manager.md

File metadata and controls

73 lines (47 loc) · 3.11 KB
Raw

Scene Manager

Status

The first runtime version is now implemented.

  • scene_manager_node.py owns active-scene loading, validation, publication, and MoveIt scene application
  • scene_manager_core.py owns shared workspace-document loading, normalization, persistence, and workspace save-path helpers
  • motion_execution_node.py and feasibility_service_node.py now bootstrap from GetActiveScene and stay synced from /active_scene
  • launch wiring in grasping_control/launch/motion_execution.launch.py now starts scene_manager_node and can activate a default scene at startup

Purpose

The scene-manager is a dedicated node that resolves package_name + workspace_file, loads workspace data into MoveIt, and publishes the runtime active-scene state so scene activation can change without restarting the arm stack.

Runtime Ownership

scene_manager_node should be the only runtime component that:

  • parses workspace.yaml
  • converts workspace objects to MoveIt collision objects
  • applies allowed object-link collision pairs
  • updates the active workspace-area filter source
  • publishes active-scene metadata

motion_execution_node and feasibility_service_node should keep motion planning and feasibility logic, but consume active scene state from the scene manager instead of owning scene parsing as long-term runtime state.

APIs

Services:

  • GetActiveScene - returns the current active scene metadata
  • ValidateWorkspaceDocument - validates a workspace document without applying it

Actions:

  • ActivateScene - activates a specific workspace scene reference
  • LoadSceneFromContent - loads a workspace document from content and activates it

Topic:

  • /active_scene - publishes the current active scene metadata

Default launch parameters used by the current bringup:

  • activate_scene_action_name: activate_scene
  • load_scene_from_content_action_name: load_scene_from_content
  • get_active_scene_service_name: get_active_scene
  • validate_workspace_document_service_name: validate_workspace_document
  • active_scene_topic: /active_scene
  • startup_activate_default_scene: optional bootstrap path for a known package-relative workspace file

Interaction With Workspace Creation

The workspace_creation_node is the calibration and editing frontend. And,

  • keep the interactive CLI capture loop
  • reuse the shared scene-management core for document loading, normalization, persistence, and save-path handling
  • avoid merging operator-interactive calibration behavior into the scene-manager runtime API

Active Scene Rules

For the current single-robot scope:

  • only one scene can be active at a time
  • only one activation request should run at a time
  • successful activation replaces the previous active scene atomically from the caller point of view
  • scene changes should be explicit, not hidden inside task execution
  • when the requested scene reference already matches the active scene and force_reload is false, the node reuses the current active scene instead of reapplying it

Current Gaps

  • end-to-end runtime validation is still needed against live MoveIt, registry activation, and full Omron bringup