Imported upstream version '0.8.3' of 'upstream'

.github/workflows/ci.yaml

@@ -16,6 +16,6 @@ jobs:
           - {ROS_DISTRO: noetic, ROS_REPO: testing}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}

.github/workflows/format.yaml

@@ -11,10 +11,14 @@ on:
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v3
     - name: Install clang-format-10
       run: sudo apt-get install clang-format-10
-    - uses: pre-commit/[email protected]
+    - uses: pre-commit/[email protected]
+    - name: Upload pre-commit changes
+      if: failure() && steps.precommit.outcome == 'failure'
+      uses: rhaschke/upload-git-patch-action@main
+      with:
+        name: pre-commit

.github/workflows/prerelease.yaml

@@ -20,5 +20,5 @@ jobs:
     name: "${{ matrix.distro }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: ros-industrial/industrial_ci@master

dual_panda_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: moveit_resources_panda_description
+    relative_path: urdf/dual_panda.urdf.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/panda.srdf
+  CONFIG:
+    author_name: Cristian C. Beltran-Hernandez
+    author_email: [email protected]
+    generated_timestamp: 1651284409

dual_panda_moveit_config/CHANGELOG.rst

@@ -0,0 +1,10 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package moveit_resources_dual_panda_moveit_config
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.8.3 (2023-11-10)
+------------------
+* Add ResolveConstraintFrames to all planning pipelines
+* Disable dependencies to avoid circular dependencies (`#149 <https://github.com/ros-planning/moveit_resources/issues/149>`_)
+* Add dual_panda_moveit_config (`#133 <https://github.com/ros-planning/moveit_resources/issues/133>`_)
+* Contributors: Robert Haschke, Cristian Beltran

dual_panda_moveit_config/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(moveit_resources_dual_panda_moveit_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})

dual_panda_moveit_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

dual_panda_moveit_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

dual_panda_moveit_config/config/fake_controllers.yaml

@@ -0,0 +1,51 @@
+controller_list:
+  - name: fake_panda_1_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_1_joint1
+      - panda_1_joint2
+      - panda_1_joint3
+      - panda_1_joint4
+      - panda_1_joint5
+      - panda_1_joint6
+      - panda_1_joint7
+  - name: fake_panda_2_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_2_joint1
+      - panda_2_joint2
+      - panda_2_joint3
+      - panda_2_joint4
+      - panda_2_joint5
+      - panda_2_joint6
+      - panda_2_joint7
+  - name: fake_dual_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_1_joint1
+      - panda_1_joint2
+      - panda_1_joint3
+      - panda_1_joint4
+      - panda_1_joint5
+      - panda_1_joint6
+      - panda_1_joint7
+      - panda_2_joint1
+      - panda_2_joint2
+      - panda_2_joint3
+      - panda_2_joint4
+      - panda_2_joint5
+      - panda_2_joint6
+      - panda_2_joint7
+  - name: fake_hand_1_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_1_finger_joint1
+  - name: fake_hand_2_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_2_finger_joint1
+initial:  # Define initial robot poses per group
+  - group: panda_1
+    pose: home
+  - group: panda_2
+    pose: home

dual_panda_moveit_config/config/gazebo_controllers.yaml

@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50

dual_panda_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,100 @@
+# 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:
+  panda_1_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint6:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_1_joint7:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint6:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_2_joint7:
+    has_velocity_limits: true
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0

dual_panda_moveit_config/config/kinematics.yaml

@@ -0,0 +1,8 @@
+panda_1:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+panda_2:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05