Add attached collision object for picked boxes in hangar_sim ML objective#727
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…era, widen suction-cup collision The ML box-picking objective now adds the box mesh to the planning scene at its ICP-refined pose and attaches it to grasp_link on pickup, so the move to the loading zone plans around the carried box; it is detached on release. Grasp candidate markers are cleared each pick loop. The scene camera is nudged toward the aircraft for better framing, and the suction-cup collision margin/gap is widened 0.02 -> 0.04. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Summary
Three changes to the ML Move Boxes to Loading Zone workflow in
hangar_sim.Attach grasped box as a collision object
The pick/place subtree (
move_boxes_to_loading_zone_from_waypoint.xml) now, right after the vacuum grips a box:AddCollisionMesh— addspackage://hangar_sim/objectives/box.stlto the planning scene at the box's ICP-refined pose ({target_pose}, world frame), withoverwrite="true"so a re-picked id replaces the stale world entry.AttachObject— attaches it tograsp_link, with the suction-cup links allowed to touch it.On release at the loading zone it is
DetachObject-ed back into the world. This makes the move to the loading zone plan around the carried box instead of ignoring it.It also clears grasp-candidate markers each pick loop (
ClearAllVisualMarkers) so stalegrasp_*markers (lifetime 0 = persist forever) no longer accumulate in the 3D view.Reframe scene camera
Nudged the
scene_camera(and its paired optical-frame site) inhangar_scene.xmltoward the aircraft for better framing.Widen suction-cup collision
vacuum.xml: suction-cup collisionmargin/gapwidened0.02 -> 0.04.Notes
grasped_box: withoverwrite, only the most-recently-placed box persists as a world collision object (carry-time avoidance works every pick). A unique id per pick would persist every placed box; deferred as out of scope.Release notes
None