Initial commit

.setup_assistant

+moveit_setup_assistant_config:
+  URDF:
+    package: franka_description
+    relative_path: robots/ceti_double.urdf.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/panda.srdf
+  CONFIG:
+    author_name: matteo anedda
+    author_email: matteo.anedda@mailbox.tu-dresden.de
+    generated_timestamp: 1662152488
\ No newline at end of file

CMakeLists.txt

+cmake_minimum_required(VERSION 3.1.3)
+project(ceti_double)
+
+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})

config/cartesian_limits.yaml

+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

config/chomp_planning.yaml

+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

config/fake_controllers.yaml

+controller_list:
+  - name: fake_panda_arm1_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_hand_1_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_1_finger_joint1
+      - panda_1_finger_joint2
+  - name: fake_panda_arm2_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_hand_2_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - panda_2_finger_joint1
+      - panda_2_finger_joint2
+  - name: fake_panda_arms_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
+initial:  # Define initial robot poses per group
+  - group: panda_arm1
+    pose: ready
+  - group: panda_arm2
+    pose: ready
\ No newline at end of file

config/gazebo_controllers.yaml

+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50

config/joint_limits.yaml

+# 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
\ No newline at end of file

config/kinematics.yaml

+panda_arm1:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+panda_arm2:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05

config/ompl_planning.yaml

+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
+panda_arm1:
+  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
+hand_1:
+  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
+panda_arm2:
+  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
+hand_2:
+  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
+panda_arms:
+  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(panda_1_joint1,panda_1_joint2)
+  longest_valid_segment_fraction: 0.005

config/panda.srdf

+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="panda">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm1">
+        <chain base_link="base_1" tip_link="panda_1_link8"/>
+    </group>
+    <group name="hand_1">
+        <link name="panda_1_hand"/>
+        <link name="panda_1_leftfinger"/>
+        <link name="panda_1_rightfinger"/>
+    </group>
+    <group name="panda_arm2">
+        <chain base_link="base_2" tip_link="panda_2_link8"/>
+    </group>
+    <group name="hand_2">
+        <link name="panda_2_hand"/>
+        <link name="panda_2_leftfinger"/>
+        <link name="panda_2_rightfinger"/>
+    </group>
+    <group name="panda_arms">
+        <group name="panda_arm1"/>
+        <group name="panda_arm2"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="ready" group="panda_arm1">
+        <joint name="panda_1_joint1" value="0"/>
+        <joint name="panda_1_joint2" value="-0.785"/>
+        <joint name="panda_1_joint3" value="0"/>
+        <joint name="panda_1_joint4" value="-2.356"/>
+        <joint name="panda_1_joint5" value="0"/>
+        <joint name="panda_1_joint6" value="1.571"/>
+        <joint name="panda_1_joint7" value="0.780"/>
+    </group_state>
+    <group_state name="ready" group="panda_arm2">
+        <joint name="panda_2_joint1" value="0"/>
+        <joint name="panda_2_joint2" value="-0.785"/>
+        <joint name="panda_2_joint3" value="0"/>
+        <joint name="panda_2_joint4" value="-2.356"/>
+        <joint name="panda_2_joint5" value="0"/>
+        <joint name="panda_2_joint6" value="1.571"/>
+        <joint name="panda_2_joint7" value="0.785"/>
+    </group_state>
+
+    <group_state name="open" group="hand_1">
+        <joint name="panda_1_finger_joint1" value="0.035" />
+        <joint name="panda_1_finger_joint2" value="0.035" />
+    </group_state>
+    <group_state name="close" group="hand_1">
+        <joint name="panda_1_finger_joint1" value="0" />
+        <joint name="panda_1_finger_joint2" value="0" />
+    </group_state>
+
+    <group_state name="open" group="hand_2">
+        <joint name="panda_2_finger_joint1" value="0.035" />
+        <joint name="panda_2_finger_joint2" value="0.035" />
+    </group_state>
+    <group_state name="close" group="hand_2">
+        <joint name="panda_2_finger_joint1" value="0" />
+        <joint name="panda_2_finger_joint2" value="0" />
+    </group_state>
+
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="hand_1" parent_link="panda_1_link8" group="hand_1" parent_group="panda_arm1"/>
+    <end_effector name="hand_2" parent_link="panda_2_link8" group="hand_2" parent_group="panda_arm2"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint1" type="fixed" parent_frame="world" child_link="base_1"/>
+    <virtual_joint name="virtual_joint2" type="fixed" parent_frame="world" child_link="base_2"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_1" link2="base_2" reason="Adjacent"/>
+    <disable_collisions link1="base_1" link2="panda_1_link0" reason="Adjacent"/>
+    <disable_collisions link1="base_1" link2="panda_1_link1" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_1_link2" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="base_1" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_hand" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_leftfinger" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link0" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link1" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link2" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link5" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link6" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_link7" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_1_rightfinger" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_2_link0" reason="Adjacent"/>
+    <disable_collisions link1="base_2" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="base_2" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_link5" reason="Default"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_1_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_hand" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_1_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_1_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_1_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_leftfinger" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_1_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_1_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link0" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_1_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_1_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link1" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_1_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_1_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link2" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_1_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_1_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_1_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_1_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_1_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link3" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_1_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_1_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_1_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_1_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link4" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_1_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_1_link7" reason="Default"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link5" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_1_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_1_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link6" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_1_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_link7" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_hand" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_leftfinger" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link0" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link1" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_1_rightfinger" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_link5" reason="Default"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_hand" link2="panda_2_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_leftfinger" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_2_leftfinger" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_2_leftfinger" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_2_leftfinger" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_2_leftfinger" link2="panda_2_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_2_link0" link2="panda_2_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link0" link2="panda_2_link2" reason="Never"/>
+    <disable_collisions link1="panda_2_link0" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_2_link0" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_2_link1" link2="panda_2_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link1" link2="panda_2_link3" reason="Never"/>
+    <disable_collisions link1="panda_2_link1" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_2_link2" link2="panda_2_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link2" link2="panda_2_link4" reason="Never"/>
+    <disable_collisions link1="panda_2_link3" link2="panda_2_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link3" link2="panda_2_link5" reason="Never"/>
+    <disable_collisions link1="panda_2_link3" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_2_link3" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_2_link3" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_2_link4" link2="panda_2_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link4" link2="panda_2_link6" reason="Never"/>
+    <disable_collisions link1="panda_2_link4" link2="panda_2_link7" reason="Never"/>
+    <disable_collisions link1="panda_2_link4" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_2_link5" link2="panda_2_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link5" link2="panda_2_link7" reason="Default"/>
+    <disable_collisions link1="panda_2_link6" link2="panda_2_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_2_link6" link2="panda_2_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_2_link7" link2="panda_2_rightfinger" reason="Never"/>
+</robot>

config/ros_controllers.yaml

+controller_list:
+  panda_arm1_controller:
+    action_ns: follow_joint_trajectory
+    type: follow_joint_trajectory
+    default: true
+    joints:
+      - panda_1_joint1
+      - panda_1_joint2
+      - panda_1_joint3
+      - panda_1_joint4
+      - panda_1_joint5
+      - panda_1_joint6
+      - panda_1_joint7
+    gains:
+      panda_1_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint3:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint4:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint5:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint6:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint7:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+  hand_1_controller:
+    action_ns: follow_joint_trajectory
+    type: follow_joint_trajectory
+    default: true
+    joints:
+      - panda_1_finger_joint1
+      - panda_1_finger_joint2
+    gains:
+      panda_1_finger_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_finger_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+  panda_arm2_controller:
+    action_ns: follow_joint_trajectory
+    type: follow_joint_trajectory
+    default: true
+    joints:
+      - panda_2_joint1
+      - panda_2_joint2
+      - panda_2_joint3
+      - panda_2_joint4
+      - panda_2_joint5
+      - panda_2_joint6
+      - panda_2_joint7
+    gains:
+      panda_2_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint3:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint4:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint5:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint6:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint7:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+  hand_2_controller:
+    action_ns: follow_joint_trajectory
+    type: follow_joint_trajectory
+    default: true    
+    joints:
+      - panda_2_finger_joint1
+      - panda_2_finger_joint2
+    gains:
+      panda_2_finger_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_finger_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+  panda_arms_controller:
+    action_ns: follow_joint_trajectory
+    type: follow_joint_trajectory
+    default: true
+    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
+    gains:
+      panda_1_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint3:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint4:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint5:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint6:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_1_joint7:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint1:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint2:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint3:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint4:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint5:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint6:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
+      panda_2_joint7:
+        p: 100
+        d: 1
+        i: 1
+        i_clamp: 1
\ No newline at end of file

config/sensors_3d.yaml

+sensors:
+  []
\ No newline at end of file

config/simple_moveit_controllers.yaml

+controller_list:
+  - name: panda_arm1_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_1_joint1
+      - panda_1_joint2
+      - panda_1_joint3
+      - panda_1_joint4
+      - panda_1_joint5
+      - panda_1_joint6
+      - panda_1_joint7
+  - name: hand_1_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_1_finger_joint1
+      - panda_1_finger_joint2
+  - name: panda_arm2_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_2_joint1
+      - panda_2_joint2
+      - panda_2_joint3
+      - panda_2_joint4
+      - panda_2_joint5
+      - panda_2_joint6
+      - panda_2_joint7
+  - name: hand_2_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - panda_2_finger_joint1
+      - panda_2_finger_joint2
\ No newline at end of file

config/stomp_planning.yaml

+stomp/panda_arm1:
+  group_name: panda_arm1
+  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/hand_1:
+  group_name: hand_1
+  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]
+    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/panda_arm2:
+  group_name: panda_arm2
+  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/hand_2:
+  group_name: hand_2
+  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]
+    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

launch/chomp_planning_pipeline.launch.xml

+<launch>
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find ceti_double)/config/chomp_planning.yaml" />
+</launch>

launch/default_warehouse_db.launch

+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find ceti_double)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>

launch/demo.launch

+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find ceti_double)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <arg name="scene" default="dummy/dummy.yaml" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base_1" />
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world base_2" />
+
+
+
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+    <arg name="scene" value="$(arg scene)" />
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>  -->
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

launch/demo_gazebo.launch

+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>

launch/fake_moveit_controller_manager.launch.xml

+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find ceti_double)/config/fake_controllers.yaml"/>
+
+</launch>

launch/gazebo.launch

+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J panda_1_joint1 0 -J panda_1_joint2 0 -J panda_1_joint3 0 -J panda_1_joint4 -1.5708 -J panda_1_joint5 0 -J panda_1_joint6 0 -J panda_1_joint7 0 -J panda_2_joint1 0 -J panda_2_joint2 0 -J panda_2_joint3 0 -J panda_2_joint4 -1.5708 -J panda_2_joint5 0 -J panda_2_joint6 0 -J panda_2_joint7 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" command="xacro  '$(find franka_description)/robots/ceti_double.urdf.xacro'" />
+
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find ceti_double)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>