moveit docs fix (#209)

docs/libraries.rst

@@ -16,6 +16,8 @@ Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.s
      - Helpers Library (provided with :repo_link:`scenario_execution`)
    * - ``osc.kubernetes``
      - Kubernetes Library (provided with :repo_link:`libs/scenario_execution_kubernetes`)
+   * - ``osc.moveit2``
+     - ROS Moveit2  manipulation stack Library (provided with :repo_link:`libs/scenario_execution_moveit2`)
    * - ``osc.nav2``
      - ROS Nav2 navigation stack Library (provided with :repo_link:`libs/scenario_execution_nav2`)
    * - ``osc.os``
@@ -26,8 +28,6 @@ Beside ``osc.standard`` provided by OpenSCENARIO 2 (which we divide into ``osc.s
      - ROS Library (provided with :repo_link:`scenario_execution_ros`)
    * - ``osc.x11``
      - X11 Library (provided with :repo_link:`libs/scenario_execution_x11`)
-   * - ``osc.moveit2``
-     - ROS Moveit2  manipulation stack Library (provided with :repo_link:`libs/scenario_execution_moveit2`)
 
 Additional features can be implemented by defining your own library.
 
@@ -630,6 +630,155 @@ Wait for a Kubernetes pod to reach a specified state.
      - Is the specified target a regular expression
 
 
+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:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``namespace``
+     - ``string``
+     - `` ' ' ``
+     - Namespace for the arm
+   * - ``arm_joints``
+     - ``list of string``
+     -
+     - List of joint names for the arm joints
+   * - ``gripper_joints``
+     - ``list of string``
+     -
+     - List of joint names for the gripper joints
+   * - ``arm_group``
+     - ``bool``
+     - ``false``
+     - Name of the move group controlling the arm joints
+   * - ``gripper_group``
+     - ``string``
+     - 
+     - Name of the move group controlling the gripper joints
+   * - ``end_effector``
+     - ``string``
+     -
+     - Name of the end effector component (e.g., hand or tool)
+   * - ``base_link``
+     - ``string``
+     -
+     - 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, utilizing `MoveGroup action <https://github.com/moveit/moveit_msgs/blob/master/action/MoveGroup.action>`__ from the move_group node by specifying target joint values.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``goal_pose``
+     - ``list of float``
+     -
+     - List joint positions to move to
+   * - ``move_group``
+     - ``move_group_type``
+     -
+     - Move group type. Allowed [arm, gripper] (e.g. ``[move_group_type!arm, move_group_type!gripper]``)
+   * - ``plan_only``
+     - ``bool``
+     - ``false``
+     - If true, the plan is calculated but not executed. The calculated plan can be visualized in rviz.
+   * - ``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.
+   * - ``max_velocity_scaling_factor``
+     - ``float``
+     - ``0.1``
+     - Scaling factors for optionally reducing the maximum joint velocities
+   * - ``namespace_override``
+     - ``string``
+     - ``false``
+     - if set, it's used as namespace (instead of the associated actor's name)
+   * - ``action_topic``
+     - ``string``
+     - ``move_action``
+     - Action name
+   * - ``success_on_acceptance``
+     - ``bool``
+     - ``false``
+     - Succeed on goal acceptance
+
+``arm.move_to_pose``
+^^^^^^^^^^^^^^^^^^^^
+
+Use MoveIt2 to move the end-effector to a specified pose, utilizing `MoveGroup action <https://github.com/moveit/moveit_msgs/blob/master/action/MoveGroup.action>`__ from the move_group node by specifying the desired end-effector position and orientation.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table  
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``goal_pose``
+     - ``pose_3d``
+     -
+     - end effector pose to move to
+   * - ``plan_only``
+     - ``bool``
+     - ``false``
+     - If true, the plan is calculated but not executed. The calculated plan can be visualized in rviz.
+   * - ``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.
+   * - ``max_velocity_scaling_factor``
+     - ``float``
+     - ``0.1``
+     - Scaling factors for optionally reducing the maximum joint velocities
+   * - ``namespace_override``
+     - ``string``
+     - ``false``
+     - if set, it's used as namespace (instead of the associated actor's name)
+   * - ``action_topic``
+     - ``string``
+     - ``move_action``
+     - Action name
+   * - ``success_on_acceptance``
+     - ``bool``
+     - ``false``
+     - Succeed on goal acceptance
+
+
 Nav2
 ----
 
@@ -1455,147 +1604,4 @@ Capture the screen content within a video.
    * - ``frame_rate``
      - ``float``
      - ``25.0``
-     - Frame-rate of the resulting video
-
-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:: 
-   :widths: 15 15 5 65
-   :header-rows: 1
-   :class: tight-table   
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``namespace``
-     - ``string``
-     - `` ' ' ``
-     - Namespace for the arm
-   * - ``arm_joints``
-     - ``list of string``
-     -
-     - List of joint names for the arm joints
-   * - ``gripper_joints``
-     - ``list of string``
-     -
-     - List of joint names for the gripper joints
-   * - ``arm_group``
-     - ``bool``
-     - ``false``
-     - Name of the move group controlling the arm joints
-   * - ``gripper_group``
-     - ``string``
-     - 
-     - Name of the move group controlling the gripper joints
-   * - ``end_effector``
-     - ``string``
-     -
-     - Name of the end effector component (e.g., hand or tool)
-   * - ``base_link``
-     - ``string``
-     -
-     - 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, utilizing `MoveGroup action <https://github.com/moveit/moveit_msgs/blob/master/action/MoveGroup.action>`__ from the move_group node by specifying target joint values.
-
-.. list-table:: 
-   :widths: 15 15 5 65
-   :header-rows: 1
-   :class: tight-table   
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``goal_pose``
-     - ``list of float``
-     -
-     - List joint positions to move to
-   * - ``move_group``
-     - ``move_group_type``
-     -
-     - Move group type. Allowed [arm, gripper] (e.g. ``[move_group_type!arm, move_group_type!gripper]``)
-   * - ``plan_only``
-     - ``bool``
-     - ``false``
-     - If true, the plan is calculated but not executed. The calculated plan can be visualized in rviz.
-   * - ``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.
-   * - ``max_velocity_scaling_factor``
-     - ``float``
-     - ``0.1``
-     - Scaling factors for optionally reducing the maximum joint velocities
-   * - ``namespace_override``
-     - ``string``
-     - ``false``
-     - if set, it's used as namespace (instead of the associated actor's name)
-   * - ``action_topic``
-     - ``string``
-     - ``move_action``
-     - Action name
-   * - ``success_on_acceptance``
-     - ``bool``
-     - ``false``
-     - Succeed on goal acceptance
-
-``arm.move_to_pose``
-^^^^^^^^^^^^^^^^^^^^
-
-Use MoveIt2 to move the end-effector to a specified pose, utilizing `MoveGroup action <https://github.com/moveit/moveit_msgs/blob/master/action/MoveGroup.action>`__ from the move_group node by specifying the desired end-effector position and orientation.
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``goal_pose``
-     - ``pose_3d``
-     -
-     - end effector pose to move to
-   * - ``plan_only``
-     - ``bool``
-     - ``false``
-     - If true, the plan is calculated but not executed. The calculated plan can be visualized in rviz.
-   * - ``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.
-   * - ``max_velocity_scaling_factor``
-     - ``float``
-     - ``0.1``
-     - Scaling factors for optionally reducing the maximum joint velocities
-   * - ``namespace_override``
-     - ``string``
-     - ``false``
-     - if set, it's used as namespace (instead of the associated actor's name)
-   * - ``action_topic``
-     - ``string``
-     - ``move_action``
-     - Action name
-   * - ``success_on_acceptance``
-     - ``bool``
-     - ``false``
-     - Succeed on goal acceptance
+     - Frame-rate of the resulting video

examples/example_moveit2/example_moveit2.osc

@@ -12,7 +12,7 @@ scenario example_moveit2:
         base_link: 'panda_link0')
     do serial:
         joint_pose: manipulator.move_to_joint_pose(
-                goal_pose: [-2.82, 1.01, -2.40, -1.46, 0.57, 2.47, 0.0],
+                goal_pose: [+2.47, -0.57, -2.82, -1.37, 1.11, 1.44, 0.24],
                 move_group: move_group_type!arm)
         open_gripper: manipulator.move_to_joint_pose(
                 goal_pose: [0.04, 0.04],