Add persistent collision objects for placed boxes in hangar_sim ML picking

[davetcoleman]

[written by AI]

Problem

In the ML Move Boxes to Loading Zone hangar_sim workflow, the mobile base drives over boxes it has already placed in the loading zone (#19973, "drive over other boxes"). The base transit (Move to Pose No Preview) plans on the whole-body manipulator group — which includes the planar base joints linear_x_joint / linear_y_joint / rotational_yaw_joint — so it does collision-check the MoveIt planning scene, but nothing in the scene represents the placed boxes: the SRDF disables base_link_inertia/chassis ↔ collision_Cube_* pairs, and the only transit obstacle is the wrist-camera octomap captured at the pick station.

Approach

Make every placed box a persistent world collision object so the base plans around it on later picks.

Per box, in move_boxes_to_loading_zone_from_waypoint.xml:

• On grasp — build a unique id placed_box_N, AddCollisionMesh it at the box's ICP-refined pose, and AttachObject to grasp_link (so the carried box is also avoided).
• On release — DetachObject leaves it in the world at its placed pose, then a counter increments.

In the parent ml_move_boxes_to_loading_zone.xml:

• ResetPlanningSceneObjects at objective start clears placed_box_* left by a previous run (they persist until removed, so stale boxes would otherwise block planning at old poses). This runs before perception and does not touch the octomap or static scene.
• placed_count := 0 initializes the counter, which is ported into both perception passes (placed_count="{placed_count}") and declared as an inout_port on the subtree — the same cross-pass remap place_pose already uses.

Why unique ids: this supersedes the earlier revision on this branch, which used a single shared id (grasped_box) with overwrite=true. That only ever kept the most-recently-placed box in the scene — carry-time avoidance worked, but the base still drove over every previously-placed box. A monotonic per-box id is the minimal change that keeps them all.

Scope

Fixes the already-placed boxes symptom of #19973. It does not yet make not-yet-picked boxes (still at the pick station) obstacles — that would be the same pattern applied to all detected boxes after perception, and is a separate follow-up.

Also carries the earlier non-collision tuning from this branch: scene-camera reframe, suction-cup collision margin widen, and clearing stale grasp markers each pick.

Verification

Run live against the hangar backend: placed_box_0/1/2 accumulated and persisted across picks, whole-body planning kept succeeding around them, and the objective-server log showed zero errors from the new behaviors.

Release notes

None.

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed

[griswaldbrooks]

[written by AI]

Superseded by #746, which lands the same placed-box collision-object persistence (unique placed_box_N ids) combined with the SAM3 perception migration, reconciled on top of current main. Closing in favor of that combined PR.