moveit-wbc

name	moveit-wbc
description	Bring up MoveIt 2 + whole-body-control RViz for the Genie G2 family, using `ros2 launch genie_sim_moveit wbc.launch.py`. Covers arm × gripper selection, the three packaged IK plugins (KDL-coupled, bio_ik-coupled, relaxed-IK), the GenieBioIK human-prior A/B switch, and the `use_ros2_control:=false` mode for direct `/joint_command` driving. Trigger: When the user asks to "start moveit", "wbc rviz", "plan with moveit", "switch IK plugin", "drive joint_command directly", "compare human priors", or pairs MoveIt with a `scene_*_g2_*` launched by the `launch-scene` skill.
license	MPL-2.0
metadata	{"author":"genie-sim","version":"1.0"}
prerequisites	["geniesim_ros:launch-scene"]
inputs	[{"name":"arm","desc":"arm variant (`crs` / `crsB`)","required":false,"default":"crsB"},{"name":"gripper","desc":"gripper variant (`swiftpicker` / `omnipicker` / `none`)","required":false,"default":"swiftpicker"},{"name":"use_ros2_control","desc":"`false` to drive via /joint_command directly (move_group only)","required":false,"default":"true"},{"name":"use_human_priors","desc":"GenieBioIK priors on (default) vs vanilla BioIK","required":false,"default":"true"}]
outputs	[{"desc":"`move_group` + `robot_state_publisher` + `rviz2` (MoveIt-Plan-Execute panel) up; optionally ros2_control controllers spawned"}]

When to Use

• A scene_*_g2_{op,sp} is running (via the launch-scene skill) and the user wants planning + RViz on top.
• User wants to switch the active IK plugin or A/B the GenieBioIK "human priors" (torso-straight, chassis-pin, head LookAt).
• User wants to drive the arm directly via /joint_command (e.g. wok_flip_cmds.py) without ros2_control fighting the publisher.

Do not use for:

• Robots other than Genie G2 — the SRDF, coupled-joint constraints, and ros2_controllers manifest are G2-only. Other robots run on the engine but don't have a packaged MoveIt config.
• Launching the simulator itself → launch-scene skill.
• Building the workspace → build-workspace skill.

Critical Patterns

1. arm and gripper are independent. Defaults are arm:=crsB gripper:=swiftpicker. The launch wires both into the URDF filename and the SRDF xacro mappings, so any (arm, gripper) combo that has a corresponding URDF under genie_sim_robot_model/urdf/ works.
2. Match MoveIt's (arm, gripper) to the scene's robot variant. scene_pnp_g2_op → gripper:=omnipicker, scene_wbc_g2_sp → gripper:=swiftpicker. Mismatched values produce a URDF MoveIt can plan against but a robot the engine refuses to drive.
3. Pick the IK plugin via use_human_priors, not by editing yaml. use_human_priors:=true (default) loads config/kinematics.yaml (GenieBioIK with priors); use_human_priors:=false loads config/kinematics_vanilla.yaml (upstream BioIK, every prior weight zeroed). Both files share the plugin selection / IK links / timeouts so the only A/B variable is the goal stack.
4. use_ros2_control:=false for /joint_command driving. When an external publisher (teleop, wok-flip script) writes /joint_command, the ros2_control node would republish at the CM update rate and fight it — set this flag to leave move_group alone (the /compute_ik, /compute_fk services) so there's a single source on the topic.