fix doc and action arg type

docs/libraries.rst

@@ -1462,8 +1462,11 @@ Moveit2
 
 The library contains actions to interact with the `Moveit2 <https://moveit.picknik.ai/main/index.html>`__ manipulation stack. Import it with ``import osc.moveit2``. It is provided by the package :repo_link:`libs/scenario_execution_moveit2`.
 
+Actors
+^^^^^^
+
 ``arm``
-^^^^^^^^
+^^^^^^^
 An articulated arm actor inheriting from the more general ``robot`` actor
 
 .. list-table:: 
@@ -1505,9 +1508,9 @@ An articulated arm actor inheriting from the more general ``robot`` actor
      - Name of the robot's base link for reference in kinematics
 
 ``arm.move_to_joint_pose()``
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Use Moveit2 to move the arm joints to specified joint positions.
+Use MoveIt2 to move the arm joints to specified joint positions, utilizing `MoveGroup action <https://docs.ros.org/en/noetic/api/moveit_msgs/html/action/MoveGroup.html>`__ from the move_group node () by specifying target joint values.
 
 .. list-table:: 
    :widths: 15 15 5 65
@@ -1540,7 +1543,7 @@ Use Moveit2 to move the arm joints to specified joint positions.
      - The acceptable range of variation around both the start and goal positions.
    * - ``max_velocity_scaling_factor``
      - ``float``
-     - ``false``
+     - ``0.1``
      - Scaling factors for optionally reducing the maximum joint velocities
    * - ``namespace_override``
      - ``string``
@@ -1556,16 +1559,16 @@ Use Moveit2 to move the arm joints to specified joint positions.
      - Succeed on goal acceptance
 
 ``arm.move_to_pose``
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^
 
-Use moveit2 to move the end-effector to specified position
+Use MoveIt2 to move the end-effector to a specified pose, utilizing `MoveGroup action <https://docs.ros.org/en/noetic/api/moveit_msgs/html/action/MoveGroup.html>`__ from the move_group node by specifying the desired end-effector position and orientation.
 
    * - Parameter
      - Type
      - Default
      - Description
    * - ``goal_pose``
-     - ``list of string``
+     - ``pose_3d``
      -
      - end effector pose to move to ``[x, y, z, quatx, quaty, quatz, w]``
    * - ``plan_only``
@@ -1582,7 +1585,7 @@ Use moveit2 to move the end-effector to specified position
      - The acceptable range of variation around both the start and goal positions.
    * - ``max_velocity_scaling_factor``
      - ``float``
-     - ``false``
+     - ``0.1``
      - Scaling factors for optionally reducing the maximum joint velocities
    * - ``namespace_override``
      - ``string``

examples/example_moveit2/example_moveit2.osc

@@ -18,7 +18,7 @@ scenario example_moveit2:
                 goal_pose: ['0.04'],
                 move_group: move_group_type!gripper)
         move_to_pose: manipulator.move_to_pose(
-                goal_pose: ['0.25', '0.0', '1.0', '0.0', '0.0', '0.0', '1.0'])
+                goal_pose: pose_3d(position_3d(x: 0.25, y: 0.0, z: 1.0)))
         close_gripper: manipulator.move_to_joint_pose(
                 goal_pose: ['0.01'],
                 move_group: move_group_type!gripper)

libs/scenario_execution_moveit2/scenario_execution_moveit2/actions/move_to_pose.py

@@ -15,10 +15,10 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from rclpy.duration import Duration
+from scenario_execution_ros.actions.common import get_pose_stamped
 from scenario_execution_ros.actions.ros_action_call import RosActionCall, ActionCallActionState
 from moveit_msgs.action import MoveGroup
 from moveit_msgs.msg import MotionPlanRequest, PlanningOptions, Constraints, PositionConstraint, OrientationConstraint, BoundingVolume
-from geometry_msgs.msg import PoseStamped
 from shape_msgs.msg import SolidPrimitive
 
 
@@ -50,15 +50,7 @@ def get_goal_msg(self):
         motion_plan_request.group_name = self.group
         motion_plan_request.max_velocity_scaling_factor = self.max_velocity_scaling_factor
 
-        target_pose = PoseStamped()
-        target_pose.header.frame_id = self.base_link  # reference_frame
-        target_pose.pose.position.x = float(self.goal_pose[0])
-        target_pose.pose.position.y = float(self.goal_pose[1])
-        target_pose.pose.position.z = float(self.goal_pose[2])
-        target_pose.pose.orientation.x = float(self.goal_pose[3])
-        target_pose.pose.orientation.y = float(self.goal_pose[4])
-        target_pose.pose.orientation.z = float(self.goal_pose[5])
-        target_pose.pose.orientation.w = float(self.goal_pose[6])
+        target_pose = get_pose_stamped(self.node.get_clock().now().to_msg(), self.goal_pose)
 
         # Create PositionConstraint
         position_constraint = PositionConstraint()

libs/scenario_execution_moveit2/scenario_execution_moveit2/lib_osc/moveit2.osc

@@ -38,7 +38,7 @@ action arm.move_to_joint_pose:
 
 action arm.move_to_pose:
     # Use moveit2 to move the end-effector to specified position
-    goal_pose: list of string            # end effector pose to move to [x, y, z, quatx, quaty, quatz, w]
+    goal_pose: pose_3d                   # end effector pose to move to
     plan_only: bool = false              # if true, the action returns an executable plan in the response but does not attempt execution
     replan: bool = true                  # if true, replan if plan becomes invalidated during execution
     tolerance: float = 0.001             # the acceptable range of variation around both the start and goal positions.