Migrate User Workspaces to MoveIt Pro 10.2
Bracket-Pick Lookahead
Existing bracket-pick Objectives continue to run with their original scheduling. The factory_sim robot configuration package adds an optional Pick and Place Brackets with Lookahead Objective. Its default parallel mode prepares the next pick during jig processing and placement. parallel=false selects the same motions with sequential preparation.
To adopt the example, update and rebuild the example workspace's factory_sim package together with its configuration, plugin description, Behavior sources, and Objective XML. factory_pick_behaviors registers through factory_sim::PickBehaviorsLoader; copying only the XML leaves the handoff and flag Behaviors unavailable. The package declares its moveit_pro_behavior_interface, pluginlib, message, and BehaviorTree.CPP dependencies.
The new Objective accepts num_cycles from 1 to 3, matching the factory scene, and finishes early after a valid empty-bin observation. The application adds an elevated Jig Wait Waypoint, retains its stopped Home handoff, and enables near_jig_wait and cache_transfers by default. Set either flag to false to compare the earlier route or repeated planning. The motion caches last for one Objective run and revalidate starts and collision geometry before reuse. Include the Waypoint file and cached-motion Subtrees when adopting the example. Existing custom workspaces do not need to rename Objectives or change their controller configuration.
For another robot, adapt the camera observation milestone, future endpoint, joint set, tolerances, payload state, and current-scene validation before enabling overlap. The Fanuc handoff predicate is workspace-local and rejects multi-DOF trajectories. Planning failure falls back to current-state preparation; execution failure stops the Objective.
See Pipeline Bin Picks for the planning and candidate contracts and the example Objective for the complete application.