Base distance to target0 to 12 m
Arm pose error0 to 1 normalized
Grasp quality0 to 1 score
Payload estimate0 to 20 kg
Collision risk0 to 1 probability
Mission progress0 to 100 %
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a08/ros2-mobile-manipulator-pick
ROS 2 Mobile Manipulator Pick
Predict mission state and rank navigation, alignment, grasp and placement subplans.
Prediction improvement96.92%
Planning top-1100%
Critical violations0
Runtime p950.21 ms
Training sourceA08 ROS skill-state simulator v0.1
Training transitions3,200
Held-out one-step error0.39%
Held-out improvement94.89%
Interactive package
Change the context. Compare the plans.
The local runtime evaluates candidate control sequences, predicts their trajectories and rejects plans outside the declared envelope.
Live runtime
Plan from system state
Observed stateValues observed at H0
Planner search7 candidates · H6
Navigate waypointAlign baseApproach objectClose gripperRetractPlace object
Set the current telemetry, choose a goal and run the planner.
Results include actions, predicted state and constraint checks.World contract
One mobile manipulator moving to a shelf, acquiring one object and returning to a drop zone.
Temporal unit: skill_step. Supported horizons: 1, 4, 8.
Navigate waypointnavigate waypoint
Align basealign base
Approach objectapproach object
Close gripperclose gripper
Retractretract
Place objectplace object
Complete pick and place4 declared targets
collision boundarycritical · lte 0.55
payload boundarycritical · lte 16
pose errorhard · lte 0.92
Package record
Everything required to inspect and run this world.
Package digest
sha256:09581f3425ec9e0534ebb1516e516ca4bc08d527697a5f1bf67cce2a13940096world.jsonScope, lineage and runtime contract
model artifact420 parameter transition profile
schemas/State, action and goal validation
eval/40 registered cases and result digest
Declared limitationsSimulation-trained on typed skill state, not camera observations or a live Gazebo deployment.One shelf, payload class and skill graph only.Robot command execution is disabled.