dual arm description and config added

mrceki · May 4, 2023 · 921cc19 · 921cc19
1 parent 8b9a704
commit 921cc19
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Showing 54 changed files with 7,689 additions and 3 deletions.
diff --git a/air_dual_arm_config/.setup_assistant b/air_dual_arm_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: air_dual_arm_description
+    relative_path: urdf/air_dual_arm.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/air_dual_arm_description.srdf
+  CONFIG:
+    author_name: Cenk Çetin
+    author_email: [email protected]
+    generated_timestamp: 1683207922
diff --git a/air_dual_arm_config/CMakeLists.txt b/air_dual_arm_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(air_dual_arm_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/air_dual_arm_config/config/air_dual_arm_description.srdf b/air_dual_arm_config/config/air_dual_arm_description.srdf
diff --git a/air_dual_arm_config/config/cartesian_limits.yaml b/air_dual_arm_config/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/air_dual_arm_config/config/chomp_planning.yaml b/air_dual_arm_config/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/air_dual_arm_config/config/fake_controllers.yaml b/air_dual_arm_config/config/fake_controllers.yaml
@@ -0,0 +1,29 @@
+controller_list:
+  - name: fake_air_right_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - s1j
+      - s2j
+      - s3j
+      - ej
+      - rollj
+      - pitchj
+      - yawj
+  - name: fake_air_left_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - s1_2j
+      - s2_2j
+      - s3_2j
+      - e_2j
+      - roll_2j
+      - pitch_2j
+  - name: fake_gripper_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - qbhand_synergy_joint
+initial:  # Define initial robot poses per group
+  - group: air_right_arm
+    pose: right_home
+  - group: air_left_arm
+    pose: left_home