diff --git a/air_dual_arm_config/.setup_assistant b/air_dual_arm_config/.setup_assistant new file mode 100644 index 0000000..a164981 --- /dev/null +++ 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: cenkcetix@gmail.com + generated_timestamp: 1683207922 \ No newline at end of file diff --git a/air_dual_arm_config/CMakeLists.txt b/air_dual_arm_config/CMakeLists.txt new file mode 100644 index 0000000..6638081 --- /dev/null +++ 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 new file mode 100644 index 0000000..51616d7 --- /dev/null +++ b/air_dual_arm_config/config/air_dual_arm_description.srdf @@ -0,0 +1,554 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+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 new file mode 100644 index 0000000..2146c60 --- /dev/null +++ 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 \ No newline at end of file diff --git a/air_dual_arm_config/config/gazebo_air_dual_arm_description.urdf b/air_dual_arm_config/config/gazebo_air_dual_arm_description.urdf new file mode 100644 index 0000000..0dd446f --- /dev/null +++ b/air_dual_arm_config/config/gazebo_air_dual_arm_description.urdf @@ -0,0 +1,2551 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/air_dual_arm_config/config/gazebo_controllers.yaml new file mode 100644 index 0000000..e4d2eb0 --- /dev/null +++ b/air_dual_arm_config/config/gazebo_controllers.yaml @@ -0,0 +1,4 @@ +# Publish joint_states +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/air_dual_arm_config/config/joint_limits.yaml b/air_dual_arm_config/config/joint_limits.yaml new file mode 100644 index 0000000..fe5a232 --- /dev/null +++ b/air_dual_arm_config/config/joint_limits.yaml @@ -0,0 +1,245 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + e_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + ej: + has_velocity_limits: true + max_velocity: 0.13 + has_acceleration_limits: false + max_acceleration: 0 + pitch_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + pitchj: + has_velocity_limits: true + max_velocity: 0.09 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_distal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_distal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_knuckle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_middle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_middle_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_proximal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_index_proximal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_distal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_distal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_knuckle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_middle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_middle_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_proximal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_little_proximal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_distal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_distal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_knuckle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_middle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_middle_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_proximal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_middle_proximal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_distal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_distal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_knuckle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_middle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_middle_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_proximal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_ring_proximal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_synergy_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_thumb_distal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_thumb_distal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_thumb_knuckle_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_thumb_proximal_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + qbhand_thumb_proximal_virtual_joint: + has_velocity_limits: true + max_velocity: 100 + has_acceleration_limits: false + max_acceleration: 0 + roll_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + rollj: + has_velocity_limits: true + max_velocity: 0.09 + has_acceleration_limits: false + max_acceleration: 0 + s1_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + s1j: + has_velocity_limits: true + max_velocity: 0.35 + has_acceleration_limits: false + max_acceleration: 0 + s2_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + s2j: + has_velocity_limits: true + max_velocity: 0.35 + has_acceleration_limits: false + max_acceleration: 0 + s3_2j: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + s3j: + has_velocity_limits: true + max_velocity: 0.35 + has_acceleration_limits: false + max_acceleration: 0 + yawj: + has_velocity_limits: true + max_velocity: 1.75 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/air_dual_arm_config/config/kinematics.yaml b/air_dual_arm_config/config/kinematics.yaml new file mode 100644 index 0000000..eb6d168 --- /dev/null +++ b/air_dual_arm_config/config/kinematics.yaml @@ -0,0 +1,8 @@ +air_right_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 +air_left_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/air_dual_arm_config/config/ompl_planning.yaml b/air_dual_arm_config/config/ompl_planning.yaml new file mode 100644 index 0000000..030e776 --- /dev/null +++ b/air_dual_arm_config/config/ompl_planning.yaml @@ -0,0 +1,213 @@ +planner_configs: + AnytimePathShortening: + type: geometric::AnytimePathShortening + shortcut: true # Attempt to shortcut all new solution paths + hybridize: true # Compute hybrid solution trajectories + max_hybrid_paths: 24 # Number of hybrid paths generated per iteration + num_planners: 4 # The number of default planners to use for planning + planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +air_right_arm: + default_planner_config: RRTConnect + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(s1j,s2j) + longest_valid_segment_fraction: 0.005 +air_left_arm: + default_planner_config: RRTConnect + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(s1_2j,s2_2j) + longest_valid_segment_fraction: 0.005 +gripper: + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/air_dual_arm_config/config/ros_controllers.yaml b/air_dual_arm_config/config/ros_controllers.yaml new file mode 100644 index 0000000..f5afb65 --- /dev/null +++ b/air_dual_arm_config/config/ros_controllers.yaml @@ -0,0 +1,96 @@ +air_right_arm_controller: + type: effort_controllers/JointTrajectoryController + joints: + - s1j + - s2j + - s3j + - ej + - rollj + - pitchj + - yawj + gains: + s1j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + s2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + s3j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + ej: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + rollj: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + pitchj: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + yawj: + p: 100 + d: 1 + i: 1 + i_clamp: 1 +air_left_arm_controller: + type: effort_controllers/JointTrajectoryController + joints: + - s1_2j + - s2_2j + - s3_2j + - e_2j + - roll_2j + - pitch_2j + gains: + s1_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + s2_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + s3_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + e_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + roll_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + pitch_2j: + p: 100 + d: 1 + i: 1 + i_clamp: 1 +gripper_controller: + type: effort_controllers/JointTrajectoryController + joints: + - qbhand_synergy_joint + gains: + qbhand_synergy_joint: + p: 100 + d: 1 + i: 1 + i_clamp: 1 \ No newline at end of file diff --git a/air_dual_arm_config/config/sensors_3d.yaml b/air_dual_arm_config/config/sensors_3d.yaml new file mode 100644 index 0000000..51010a3 --- /dev/null +++ b/air_dual_arm_config/config/sensors_3d.yaml @@ -0,0 +1,2 @@ +sensors: + [] \ No newline at end of file diff --git a/air_dual_arm_config/config/simple_moveit_controllers.yaml b/air_dual_arm_config/config/simple_moveit_controllers.yaml new file mode 100644 index 0000000..e213e05 --- /dev/null +++ b/air_dual_arm_config/config/simple_moveit_controllers.yaml @@ -0,0 +1,30 @@ +controller_list: + - name: air_right_arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - s1j + - s2j + - s3j + - ej + - rollj + - pitchj + - yawj + - name: air_left_arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - s1_2j + - s2_2j + - s3_2j + - e_2j + - roll_2j + - pitch_2j + - name: gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - qbhand_synergy_joint \ No newline at end of file diff --git a/air_dual_arm_config/config/stomp_planning.yaml b/air_dual_arm_config/config/stomp_planning.yaml new file mode 100644 index 0000000..3e15aec --- /dev/null +++ b/air_dual_arm_config/config/stomp_planning.yaml @@ -0,0 +1,117 @@ +stomp/air_right_arm: + group_name: air_right_arm + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized +stomp/air_left_arm: + group_name: air_left_arm + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized +stomp/gripper: + group_name: gripper + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized \ No newline at end of file diff --git a/air_dual_arm_config/launch/air_dual_arm_description_moveit_sensor_manager.launch.xml b/air_dual_arm_config/launch/air_dual_arm_description_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/air_dual_arm_config/launch/air_dual_arm_description_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/air_dual_arm_config/launch/chomp_planning_pipeline.launch.xml b/air_dual_arm_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..490bb05 --- /dev/null +++ b/air_dual_arm_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/default_warehouse_db.launch b/air_dual_arm_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..87ca767 --- /dev/null +++ b/air_dual_arm_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/demo.launch b/air_dual_arm_config/launch/demo.launch new file mode 100644 index 0000000..eb5426b --- /dev/null +++ b/air_dual_arm_config/launch/demo.launch @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/demo_gazebo.launch b/air_dual_arm_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..0ef8f95 --- /dev/null +++ b/air_dual_arm_config/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/fake_moveit_controller_manager.launch.xml b/air_dual_arm_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..ab3ee7c --- /dev/null +++ b/air_dual_arm_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/gazebo.launch b/air_dual_arm_config/launch/gazebo.launch new file mode 100644 index 0000000..0ad83fe --- /dev/null +++ b/air_dual_arm_config/launch/gazebo.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/joystick_control.launch b/air_dual_arm_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/air_dual_arm_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/move_group.launch b/air_dual_arm_config/launch/move_group.launch new file mode 100644 index 0000000..6342755 --- /dev/null +++ b/air_dual_arm_config/launch/move_group.launch @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/moveit.rviz b/air_dual_arm_config/launch/moveit.rviz new file mode 100644 index 0000000..79dd0cd --- /dev/null +++ b/air_dual_arm_config/launch/moveit.rviz @@ -0,0 +1,672 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planning Metrics1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.5 + Tree Height: 215 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + e: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + e_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pitch_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_end_effector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_ring_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_ring_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_synergy_tendon_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_thumb_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_thumb_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + roll: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + roll_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + root_link: + Alpha: 1 + Show Axes: false + Show Trail: false + s1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s1_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s2_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s3_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: air_right_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + e: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + e_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pitch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pitch_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_end_effector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_index_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_index_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_little_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_little_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_middle_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_middle_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_ring_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_middle_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_ring_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_ring_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_synergy_tendon_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_thumb_distal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_distal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + qbhand_thumb_knuckle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_proximal_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + qbhand_thumb_proximal_virtual_link: + Alpha: 1 + Show Axes: false + Show Trail: false + roll: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + roll_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + root_link: + Alpha: 1 + Show Axes: false + Show Trail: false + s1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s1_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s2_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + s3_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.1047396659851074 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.75 + Focal Point: + X: -0.38282260298728943 + Y: -0.12503071129322052 + Z: 0.5546161532402039 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5649999380111694 + Target Frame: base_link + Yaw: 6.1649580001831055 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 848 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1291 + X: 454 + Y: 27 diff --git a/air_dual_arm_config/launch/moveit_rviz.launch b/air_dual_arm_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..a4605c0 --- /dev/null +++ b/air_dual_arm_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/ompl-chomp_planning_pipeline.launch.xml b/air_dual_arm_config/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..7c94c90 --- /dev/null +++ b/air_dual_arm_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/ompl_planning_pipeline.launch.xml b/air_dual_arm_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..9e58d11 --- /dev/null +++ b/air_dual_arm_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/air_dual_arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 0000000..c7c4cf5 --- /dev/null +++ b/air_dual_arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/planning_context.launch b/air_dual_arm_config/launch/planning_context.launch new file mode 100644 index 0000000..fc65a53 --- /dev/null +++ b/air_dual_arm_config/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/planning_pipeline.launch.xml b/air_dual_arm_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..4b4d0d6 --- /dev/null +++ b/air_dual_arm_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/air_dual_arm_config/launch/ros_control_moveit_controller_manager.launch.xml b/air_dual_arm_config/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..9ebc91c --- /dev/null +++ b/air_dual_arm_config/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/air_dual_arm_config/launch/ros_controllers.launch b/air_dual_arm_config/launch/ros_controllers.launch new file mode 100644 index 0000000..b8e0a54 --- /dev/null +++ b/air_dual_arm_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/air_dual_arm_config/launch/run_benchmark_ompl.launch b/air_dual_arm_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..7caebc1 --- /dev/null +++ b/air_dual_arm_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/sensor_manager.launch.xml b/air_dual_arm_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..90ea339 --- /dev/null +++ b/air_dual_arm_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/setup_assistant.launch b/air_dual_arm_config/launch/setup_assistant.launch new file mode 100644 index 0000000..2ac39dc --- /dev/null +++ b/air_dual_arm_config/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/simple_moveit_controller_manager.launch.xml b/air_dual_arm_config/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..00ad41e --- /dev/null +++ b/air_dual_arm_config/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/air_dual_arm_config/launch/stomp_planning_pipeline.launch.xml b/air_dual_arm_config/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..ee30a9e --- /dev/null +++ b/air_dual_arm_config/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/trajectory_execution.launch.xml b/air_dual_arm_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..20c3dfc --- /dev/null +++ b/air_dual_arm_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/warehouse.launch b/air_dual_arm_config/launch/warehouse.launch new file mode 100644 index 0000000..0712e67 --- /dev/null +++ b/air_dual_arm_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/launch/warehouse_settings.launch.xml b/air_dual_arm_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/air_dual_arm_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/air_dual_arm_config/package.xml b/air_dual_arm_config/package.xml new file mode 100644 index 0000000..806b4ae --- /dev/null +++ b/air_dual_arm_config/package.xml @@ -0,0 +1,41 @@ + + + air_dual_arm_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the air_dual_arm_description with the MoveIt Motion Planning Framework + + Cenk Çetin + Cenk Çetin + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + + air_dual_arm_description + + + diff --git a/air_dual_arm_description/config/joint_names_ARL1_00.yaml b/air_dual_arm_description/config/joint_names_ARL1_00.yaml new file mode 100644 index 0000000..ec26e96 --- /dev/null +++ b/air_dual_arm_description/config/joint_names_ARL1_00.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 's1_2j', 's2_2j', 's3_2j', 'e_2j', 'roll_2j', 'pitch_2j', 'yaw_2j', ] diff --git a/air_dual_arm_description/launch/gazebo.launch b/air_dual_arm_description/launch/gazebo.launch index 0fab05b..2d0ca95 100644 --- a/air_dual_arm_description/launch/gazebo.launch +++ b/air_dual_arm_description/launch/gazebo.launch @@ -10,7 +10,7 @@ name="spawn_model" pkg="gazebo_ros" type="spawn_model" - args="-file $(find air_dual_arm_description)/urdf/air_dual_arm.urdf -urdf -model air_dual_arm" + args="-file $(find ARL1_00)/urdf/ARL1_00.urdf -urdf -model ARL1_00" output="screen" /> air_dual_arm_description 1.0.0 -

URDF Description package for air_dual_arm_description

+

URDF Description package for ARL1_00

This package contains configuration data, 3D models and launch files -for air_dual_arm_description robot

+for ARL1_00 robot

 TODO diff --git a/air_dual_arm_description/urdf/air_dual_arm.urdf b/air_dual_arm_description/urdf/air_dual_arm.urdf new file mode 100644 index 0000000..827e743 --- /dev/null +++ b/air_dual_arm_description/urdf/air_dual_arm.urdf @@ -0,0 +1,2520 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/qbMoveTransmission + + hardware_interface/EffortJointInterface + + + 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hardware_interface/EffortJointInterface + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/qbMoveTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file