From 371c779c170b2632e87f1ba5f7710d2383b45038 Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Mon, 12 Sep 2022 02:58:46 +0200
Subject: [PATCH] new map data
---
.../profiles/default/devel_collisions.txt | 6 +-
.../default/packages/ceti/devel_manifest.txt | 5 +
.../default/packages/ceti/package.xml | 41 ++++
.../packages/ceti_double/devel_manifest.txt | 2 +-
.../devel_manifest.txt | 2 +-
.../default/packages/mtc/devel_manifest.txt | 10 +-
.../panda_moveit_config/devel_manifest.txt | 2 +-
.../packages/reachability/devel_manifest.txt | 16 +-
src/ceti/.setup_assistant | 11 ++
src/ceti/CMakeLists.txt | 10 +
src/ceti/config/cartesian_limits.yaml | 5 +
src/ceti/config/chomp_planning.yaml | 18 ++
src/ceti/config/fake_controllers.yaml | 19 ++
src/ceti/config/gazebo_controllers.yaml | 4 +
src/ceti/config/joint_limits.yaml | 55 ++++++
src/ceti/config/kinematics.yaml | 1 +
src/ceti/config/ompl_planning.yaml | 181 ++++++++++++++++++
src/ceti/config/panda.srdf | 75 ++++++++
src/ceti/config/ros_controllers.yaml | 62 ++++++
src/ceti/config/sensors_3d.yaml | 2 +
.../config/simple_moveit_controllers.yaml | 20 ++
src/ceti/config/stomp_planning.yaml | 78 ++++++++
.../launch/chomp_planning_pipeline.launch.xml | 23 +++
src/ceti/launch/default_warehouse_db.launch | 15 ++
src/ceti/launch/demo.launch | 69 +++++++
src/ceti/launch/demo_gazebo.launch | 21 ++
.../fake_moveit_controller_manager.launch.xml | 12 ++
src/ceti/launch/gazebo.launch | 32 ++++
src/ceti/launch/joystick_control.launch | 17 ++
src/ceti/launch/move_group.launch | 101 ++++++++++
src/ceti/launch/moveit.rviz | 131 +++++++++++++
src/ceti/launch/moveit_rviz.launch | 15 ++
.../ompl-chomp_planning_pipeline.launch.xml | 19 ++
.../launch/ompl_planning_pipeline.launch.xml | 26 +++
.../panda_moveit_sensor_manager.launch.xml | 3 +
...otion_planner_planning_pipeline.launch.xml | 15 ++
src/ceti/launch/planning_context.launch | 26 +++
src/ceti/launch/planning_pipeline.launch.xml | 10 +
...ntrol_moveit_controller_manager.launch.xml | 4 +
src/ceti/launch/ros_controllers.launch | 11 ++
src/ceti/launch/run_benchmark_ompl.launch | 21 ++
src/ceti/launch/sensor_manager.launch.xml | 17 ++
src/ceti/launch/setup_assistant.launch | 16 ++
...imple_moveit_controller_manager.launch.xml | 8 +
.../launch/stomp_planning_pipeline.launch.xml | 25 +++
.../launch/trajectory_execution.launch.xml | 23 +++
src/ceti/launch/warehouse.launch | 15 ++
src/ceti/launch/warehouse_settings.launch.xml | 16 ++
src/ceti/package.xml | 41 ++++
src/mtc/launch/grasp_pipeline.launch | 2 +-
src/mtc/maps/dummy.yaml | 71 +++----
src/mtc/src/grasp_pipeline.cpp | 21 +-
52 files changed, 1378 insertions(+), 73 deletions(-)
create mode 100644 .catkin_tools/profiles/default/packages/ceti/devel_manifest.txt
create mode 100644 .catkin_tools/profiles/default/packages/ceti/package.xml
create mode 100644 src/ceti/.setup_assistant
create mode 100644 src/ceti/CMakeLists.txt
create mode 100644 src/ceti/config/cartesian_limits.yaml
create mode 100644 src/ceti/config/chomp_planning.yaml
create mode 100644 src/ceti/config/fake_controllers.yaml
create mode 100644 src/ceti/config/gazebo_controllers.yaml
create mode 100644 src/ceti/config/joint_limits.yaml
create mode 100644 src/ceti/config/kinematics.yaml
create mode 100644 src/ceti/config/ompl_planning.yaml
create mode 100644 src/ceti/config/panda.srdf
create mode 100644 src/ceti/config/ros_controllers.yaml
create mode 100644 src/ceti/config/sensors_3d.yaml
create mode 100644 src/ceti/config/simple_moveit_controllers.yaml
create mode 100644 src/ceti/config/stomp_planning.yaml
create mode 100644 src/ceti/launch/chomp_planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/default_warehouse_db.launch
create mode 100644 src/ceti/launch/demo.launch
create mode 100644 src/ceti/launch/demo_gazebo.launch
create mode 100644 src/ceti/launch/fake_moveit_controller_manager.launch.xml
create mode 100644 src/ceti/launch/gazebo.launch
create mode 100644 src/ceti/launch/joystick_control.launch
create mode 100644 src/ceti/launch/move_group.launch
create mode 100644 src/ceti/launch/moveit.rviz
create mode 100644 src/ceti/launch/moveit_rviz.launch
create mode 100644 src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/ompl_planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/panda_moveit_sensor_manager.launch.xml
create mode 100644 src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/planning_context.launch
create mode 100644 src/ceti/launch/planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/ros_control_moveit_controller_manager.launch.xml
create mode 100644 src/ceti/launch/ros_controllers.launch
create mode 100644 src/ceti/launch/run_benchmark_ompl.launch
create mode 100644 src/ceti/launch/sensor_manager.launch.xml
create mode 100644 src/ceti/launch/setup_assistant.launch
create mode 100644 src/ceti/launch/simple_moveit_controller_manager.launch.xml
create mode 100644 src/ceti/launch/stomp_planning_pipeline.launch.xml
create mode 100644 src/ceti/launch/trajectory_execution.launch.xml
create mode 100644 src/ceti/launch/warehouse.launch
create mode 100644 src/ceti/launch/warehouse_settings.launch.xml
create mode 100644 src/ceti/package.xml
diff --git a/.catkin_tools/profiles/default/devel_collisions.txt b/.catkin_tools/profiles/default/devel_collisions.txt
index cef6793..5e74b25 100644
--- a/.catkin_tools/profiles/default/devel_collisions.txt
+++ b/.catkin_tools/profiles/default/devel_collisions.txt
@@ -1,4 +1,4 @@
/home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 8732
-/home/matteo/reachability/devel/lib/libmoveit_grasps.so 66
-/home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 66
+/home/matteo/reachability/devel/./cmake.lock 8799
+/home/matteo/reachability/devel/lib/libmoveit_grasps.so 75
+/home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 75
diff --git a/.catkin_tools/profiles/default/packages/ceti/devel_manifest.txt b/.catkin_tools/profiles/default/packages/ceti/devel_manifest.txt
new file mode 100644
index 0000000..700f133
--- /dev/null
+++ b/.catkin_tools/profiles/default/packages/ceti/devel_manifest.txt
@@ -0,0 +1,5 @@
+ceti
+/home/matteo/reachability/devel/.private/ceti/cmake.lock /home/matteo/reachability/devel/./cmake.lock
+/home/matteo/reachability/devel/.private/ceti/share/ceti/cmake/cetiConfig.cmake /home/matteo/reachability/devel/share/ceti/cmake/cetiConfig.cmake
+/home/matteo/reachability/devel/.private/ceti/share/ceti/cmake/cetiConfig-version.cmake /home/matteo/reachability/devel/share/ceti/cmake/cetiConfig-version.cmake
+/home/matteo/reachability/devel/.private/ceti/lib/pkgconfig/ceti.pc /home/matteo/reachability/devel/lib/pkgconfig/ceti.pc
diff --git a/.catkin_tools/profiles/default/packages/ceti/package.xml b/.catkin_tools/profiles/default/packages/ceti/package.xml
new file mode 100644
index 0000000..a684df7
--- /dev/null
+++ b/.catkin_tools/profiles/default/packages/ceti/package.xml
@@ -0,0 +1,41 @@
+<package>
+
+ <name>ceti</name>
+ <version>0.3.0</version>
+ <description>
+ An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
+ </description>
+ <author email="matteo.aneddama@gmail.com">matteo</author>
+ <maintainer email="matteo.aneddama@gmail.com">matteo</maintainer>
+
+ <license>BSD</license>
+
+ <url type="website">http://moveit.ros.org/</url>
+ <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+ <url type="repository">https://github.com/ros-planning/moveit</url>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <run_depend>moveit_ros_move_group</run_depend>
+ <run_depend>moveit_fake_controller_manager</run_depend>
+ <run_depend>moveit_kinematics</run_depend>
+ <run_depend>moveit_planners_ompl</run_depend>
+ <run_depend>moveit_ros_visualization</run_depend>
+ <run_depend>moveit_setup_assistant</run_depend>
+ <run_depend>moveit_simple_controller_manager</run_depend>
+ <run_depend>joint_state_publisher</run_depend>
+ <run_depend>joint_state_publisher_gui</run_depend>
+ <run_depend>robot_state_publisher</run_depend>
+ <run_depend>rviz</run_depend>
+ <run_depend>tf2_ros</run_depend>
+ <run_depend>xacro</run_depend>
+ <!-- The next 2 packages are required for the gazebo simulation.
+ We don't include them by default to prevent installing gazebo and all its dependencies. -->
+ <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+ <!-- <run_depend>gazebo_ros_control</run_depend> -->
+ <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+ <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+ <run_depend>franka_description</run_depend>
+
+
+</package>
diff --git a/.catkin_tools/profiles/default/packages/ceti_double/devel_manifest.txt b/.catkin_tools/profiles/default/packages/ceti_double/devel_manifest.txt
index 9bd1ecb..63932c5 100644
--- a/.catkin_tools/profiles/default/packages/ceti_double/devel_manifest.txt
+++ b/.catkin_tools/profiles/default/packages/ceti_double/devel_manifest.txt
@@ -1,5 +1,5 @@
ceti_double
/home/matteo/reachability/devel/.private/ceti_double/cmake.lock /home/matteo/reachability/devel/./cmake.lock
-/home/matteo/reachability/devel/.private/ceti_double/share/ceti_double/cmake/ceti_doubleConfig.cmake /home/matteo/reachability/devel/share/ceti_double/cmake/ceti_doubleConfig.cmake
/home/matteo/reachability/devel/.private/ceti_double/share/ceti_double/cmake/ceti_doubleConfig-version.cmake /home/matteo/reachability/devel/share/ceti_double/cmake/ceti_doubleConfig-version.cmake
+/home/matteo/reachability/devel/.private/ceti_double/share/ceti_double/cmake/ceti_doubleConfig.cmake /home/matteo/reachability/devel/share/ceti_double/cmake/ceti_doubleConfig.cmake
/home/matteo/reachability/devel/.private/ceti_double/lib/pkgconfig/ceti_double.pc /home/matteo/reachability/devel/lib/pkgconfig/ceti_double.pc
diff --git a/.catkin_tools/profiles/default/packages/dual_panda_moveit_config/devel_manifest.txt b/.catkin_tools/profiles/default/packages/dual_panda_moveit_config/devel_manifest.txt
index 8f3cdbb..35f4b31 100644
--- a/.catkin_tools/profiles/default/packages/dual_panda_moveit_config/devel_manifest.txt
+++ b/.catkin_tools/profiles/default/packages/dual_panda_moveit_config/devel_manifest.txt
@@ -1,5 +1,5 @@
dual_panda_moveit_config
/home/matteo/reachability/devel/.private/dual_panda_moveit_config/cmake.lock /home/matteo/reachability/devel/./cmake.lock
-/home/matteo/reachability/devel/.private/dual_panda_moveit_config/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig.cmake /home/matteo/reachability/devel/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig.cmake
/home/matteo/reachability/devel/.private/dual_panda_moveit_config/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig-version.cmake /home/matteo/reachability/devel/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig-version.cmake
+/home/matteo/reachability/devel/.private/dual_panda_moveit_config/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig.cmake /home/matteo/reachability/devel/share/dual_panda_moveit_config/cmake/dual_panda_moveit_configConfig.cmake
/home/matteo/reachability/devel/.private/dual_panda_moveit_config/lib/pkgconfig/dual_panda_moveit_config.pc /home/matteo/reachability/devel/lib/pkgconfig/dual_panda_moveit_config.pc
diff --git a/.catkin_tools/profiles/default/packages/mtc/devel_manifest.txt b/.catkin_tools/profiles/default/packages/mtc/devel_manifest.txt
index 10aa091..7954379 100644
--- a/.catkin_tools/profiles/default/packages/mtc/devel_manifest.txt
+++ b/.catkin_tools/profiles/default/packages/mtc/devel_manifest.txt
@@ -1,10 +1,14 @@
mtc
/home/matteo/reachability/devel/.private/mtc/cmake.lock /home/matteo/reachability/devel/./cmake.lock
+/home/matteo/reachability/devel/.private/mtc/share/mtc/cmake/mtc-msg-paths.cmake /home/matteo/reachability/devel/share/mtc/cmake/mtc-msg-paths.cmake
/home/matteo/reachability/devel/.private/mtc/share/mtc/cmake/mtcConfig-version.cmake /home/matteo/reachability/devel/share/mtc/cmake/mtcConfig-version.cmake
/home/matteo/reachability/devel/.private/mtc/share/mtc/cmake/mtcConfig.cmake /home/matteo/reachability/devel/share/mtc/cmake/mtcConfig.cmake
-/home/matteo/reachability/devel/.private/mtc/lib/libmoveit_grasps_filter.so /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so
+/home/matteo/reachability/devel/.private/mtc/share/mtc/cmake/mtc-msg-extras.cmake /home/matteo/reachability/devel/share/mtc/cmake/mtc-msg-extras.cmake
+/home/matteo/reachability/devel/.private/mtc/share/roseus/ros/mtc/manifest.l /home/matteo/reachability/devel/share/roseus/ros/mtc/manifest.l
/home/matteo/reachability/devel/.private/mtc/lib/libmoveit_grasps.so /home/matteo/reachability/devel/lib/libmoveit_grasps.so
-/home/matteo/reachability/devel/.private/mtc/lib/pkgconfig/mtc.pc /home/matteo/reachability/devel/lib/pkgconfig/mtc.pc
-/home/matteo/reachability/devel/.private/mtc/lib/mtc/mtc2taskspace /home/matteo/reachability/devel/lib/mtc/mtc2taskspace
+/home/matteo/reachability/devel/.private/mtc/lib/libmoveit_grasps_filter.so /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so
/home/matteo/reachability/devel/.private/mtc/lib/mtc/base_routine /home/matteo/reachability/devel/lib/mtc/base_routine
/home/matteo/reachability/devel/.private/mtc/lib/mtc/moveit_grasps_grasp_pipeline /home/matteo/reachability/devel/lib/mtc/moveit_grasps_grasp_pipeline
+/home/matteo/reachability/devel/.private/mtc/lib/mtc/mtc2taskspace /home/matteo/reachability/devel/lib/mtc/mtc2taskspace
+/home/matteo/reachability/devel/.private/mtc/lib/python3/dist-packages/mtc/__init__.py /home/matteo/reachability/devel/lib/python3/dist-packages/mtc/__init__.py
+/home/matteo/reachability/devel/.private/mtc/lib/pkgconfig/mtc.pc /home/matteo/reachability/devel/lib/pkgconfig/mtc.pc
diff --git a/.catkin_tools/profiles/default/packages/panda_moveit_config/devel_manifest.txt b/.catkin_tools/profiles/default/packages/panda_moveit_config/devel_manifest.txt
index 0b92fa3..6671ce8 100644
--- a/.catkin_tools/profiles/default/packages/panda_moveit_config/devel_manifest.txt
+++ b/.catkin_tools/profiles/default/packages/panda_moveit_config/devel_manifest.txt
@@ -1,5 +1,5 @@
panda_moveit_config
/home/matteo/reachability/devel/.private/panda_moveit_config/cmake.lock /home/matteo/reachability/devel/./cmake.lock
-/home/matteo/reachability/devel/.private/panda_moveit_config/share/panda_moveit_config/cmake/panda_moveit_configConfig.cmake /home/matteo/reachability/devel/share/panda_moveit_config/cmake/panda_moveit_configConfig.cmake
/home/matteo/reachability/devel/.private/panda_moveit_config/share/panda_moveit_config/cmake/panda_moveit_configConfig-version.cmake /home/matteo/reachability/devel/share/panda_moveit_config/cmake/panda_moveit_configConfig-version.cmake
+/home/matteo/reachability/devel/.private/panda_moveit_config/share/panda_moveit_config/cmake/panda_moveit_configConfig.cmake /home/matteo/reachability/devel/share/panda_moveit_config/cmake/panda_moveit_configConfig.cmake
/home/matteo/reachability/devel/.private/panda_moveit_config/lib/pkgconfig/panda_moveit_config.pc /home/matteo/reachability/devel/lib/pkgconfig/panda_moveit_config.pc
diff --git a/.catkin_tools/profiles/default/packages/reachability/devel_manifest.txt b/.catkin_tools/profiles/default/packages/reachability/devel_manifest.txt
index a376b91..bd2e016 100644
--- a/.catkin_tools/profiles/default/packages/reachability/devel_manifest.txt
+++ b/.catkin_tools/profiles/default/packages/reachability/devel_manifest.txt
@@ -1,17 +1,17 @@
reachability
/home/matteo/reachability/devel/.private/reachability/cmake.lock /home/matteo/reachability/devel/./cmake.lock
-/home/matteo/reachability/devel/.private/reachability/share/roseus/ros/reachability/manifest.l /home/matteo/reachability/devel/share/roseus/ros/reachability/manifest.l
/home/matteo/reachability/devel/.private/reachability/share/reachability/cmake/reachabilityConfig.cmake /home/matteo/reachability/devel/share/reachability/cmake/reachabilityConfig.cmake
+/home/matteo/reachability/devel/.private/reachability/share/reachability/cmake/reachabilityConfig-version.cmake /home/matteo/reachability/devel/share/reachability/cmake/reachabilityConfig-version.cmake
/home/matteo/reachability/devel/.private/reachability/share/reachability/cmake/reachability-msg-extras.cmake /home/matteo/reachability/devel/share/reachability/cmake/reachability-msg-extras.cmake
/home/matteo/reachability/devel/.private/reachability/share/reachability/cmake/reachability-msg-paths.cmake /home/matteo/reachability/devel/share/reachability/cmake/reachability-msg-paths.cmake
-/home/matteo/reachability/devel/.private/reachability/share/reachability/cmake/reachabilityConfig-version.cmake /home/matteo/reachability/devel/share/reachability/cmake/reachabilityConfig-version.cmake
-/home/matteo/reachability/devel/.private/reachability/lib/reachability/inverse_map /home/matteo/reachability/devel/lib/reachability/inverse_map
-/home/matteo/reachability/devel/.private/reachability/lib/reachability/task_viewer /home/matteo/reachability/devel/lib/reachability/task_viewer
-/home/matteo/reachability/devel/.private/reachability/lib/reachability/eval_analyse /home/matteo/reachability/devel/lib/reachability/eval_analyse
-/home/matteo/reachability/devel/.private/reachability/lib/reachability/reach_map /home/matteo/reachability/devel/lib/reachability/reach_map
-/home/matteo/reachability/devel/.private/reachability/lib/reachability/single_pick /home/matteo/reachability/devel/lib/reachability/single_pick
+/home/matteo/reachability/devel/.private/reachability/share/roseus/ros/reachability/manifest.l /home/matteo/reachability/devel/share/roseus/ros/reachability/manifest.l
/home/matteo/reachability/devel/.private/reachability/lib/reachability/map_analyse /home/matteo/reachability/devel/lib/reachability/map_analyse
/home/matteo/reachability/devel/.private/reachability/lib/reachability/visualization /home/matteo/reachability/devel/lib/reachability/visualization
+/home/matteo/reachability/devel/.private/reachability/lib/reachability/single_pick /home/matteo/reachability/devel/lib/reachability/single_pick
+/home/matteo/reachability/devel/.private/reachability/lib/reachability/reach_map /home/matteo/reachability/devel/lib/reachability/reach_map
+/home/matteo/reachability/devel/.private/reachability/lib/reachability/inverse_map /home/matteo/reachability/devel/lib/reachability/inverse_map
/home/matteo/reachability/devel/.private/reachability/lib/reachability/pick_and_place /home/matteo/reachability/devel/lib/reachability/pick_and_place
-/home/matteo/reachability/devel/.private/reachability/lib/pkgconfig/reachability.pc /home/matteo/reachability/devel/lib/pkgconfig/reachability.pc
+/home/matteo/reachability/devel/.private/reachability/lib/reachability/task_viewer /home/matteo/reachability/devel/lib/reachability/task_viewer
+/home/matteo/reachability/devel/.private/reachability/lib/reachability/eval_analyse /home/matteo/reachability/devel/lib/reachability/eval_analyse
/home/matteo/reachability/devel/.private/reachability/lib/python3/dist-packages/reachability/__init__.py /home/matteo/reachability/devel/lib/python3/dist-packages/reachability/__init__.py
+/home/matteo/reachability/devel/.private/reachability/lib/pkgconfig/reachability.pc /home/matteo/reachability/devel/lib/pkgconfig/reachability.pc
diff --git a/src/ceti/.setup_assistant b/src/ceti/.setup_assistant
new file mode 100644
index 0000000..2a8e80d
--- /dev/null
+++ b/src/ceti/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+ URDF:
+ package: franka_description
+ relative_path: robots/panda_arm_hand.urdf.xacro
+ xacro_args: ""
+ SRDF:
+ relative_path: config/panda.srdf
+ CONFIG:
+ author_name: matteo
+ author_email: matteo.aneddama@gmail.com
+ generated_timestamp: 1662933915
\ No newline at end of file
diff --git a/src/ceti/CMakeLists.txt b/src/ceti/CMakeLists.txt
new file mode 100644
index 0000000..4cc3a9c
--- /dev/null
+++ b/src/ceti/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(ceti)
+
+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/src/ceti/config/cartesian_limits.yaml b/src/ceti/config/cartesian_limits.yaml
new file mode 100644
index 0000000..7df72f6
--- /dev/null
+++ b/src/ceti/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+ max_trans_vel: 1
+ max_trans_acc: 2.25
+ max_trans_dec: -5
+ max_rot_vel: 1.57
diff --git a/src/ceti/config/chomp_planning.yaml b/src/ceti/config/chomp_planning.yaml
new file mode 100644
index 0000000..eb9c912
--- /dev/null
+++ b/src/ceti/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/src/ceti/config/fake_controllers.yaml b/src/ceti/config/fake_controllers.yaml
new file mode 100644
index 0000000..e75747d
--- /dev/null
+++ b/src/ceti/config/fake_controllers.yaml
@@ -0,0 +1,19 @@
+controller_list:
+ - name: fake_arm_controller
+ type: $(arg fake_execution_type)
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ - name: fake_hand_controller
+ type: $(arg fake_execution_type)
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
+initial: # Define initial robot poses per group
+ - group: arm
+ pose: home
\ No newline at end of file
diff --git a/src/ceti/config/gazebo_controllers.yaml b/src/ceti/config/gazebo_controllers.yaml
new file mode 100644
index 0000000..e4d2eb0
--- /dev/null
+++ b/src/ceti/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/src/ceti/config/joint_limits.yaml b/src/ceti/config/joint_limits.yaml
new file mode 100644
index 0000000..c3472cc
--- /dev/null
+++ b/src/ceti/config/joint_limits.yaml
@@ -0,0 +1,55 @@
+# 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_finger_joint1:
+ has_velocity_limits: true
+ max_velocity: 0.2
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_finger_joint2:
+ has_velocity_limits: true
+ max_velocity: 0.2
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint1:
+ has_velocity_limits: true
+ max_velocity: 2.175
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint2:
+ has_velocity_limits: true
+ max_velocity: 2.175
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint3:
+ has_velocity_limits: true
+ max_velocity: 2.175
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint4:
+ has_velocity_limits: true
+ max_velocity: 2.175
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint5:
+ has_velocity_limits: true
+ max_velocity: 2.61
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint6:
+ has_velocity_limits: true
+ max_velocity: 2.61
+ has_acceleration_limits: false
+ max_acceleration: 0
+ panda_joint7:
+ has_velocity_limits: true
+ max_velocity: 2.61
+ has_acceleration_limits: false
+ max_acceleration: 0
\ No newline at end of file
diff --git a/src/ceti/config/kinematics.yaml b/src/ceti/config/kinematics.yaml
new file mode 100644
index 0000000..9e26dfe
--- /dev/null
+++ b/src/ceti/config/kinematics.yaml
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/src/ceti/config/ompl_planning.yaml b/src/ceti/config/ompl_planning.yaml
new file mode 100644
index 0000000..6fdc89d
--- /dev/null
+++ b/src/ceti/config/ompl_planning.yaml
@@ -0,0 +1,181 @@
+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
+arm:
+ 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:
+ 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/src/ceti/config/panda.srdf b/src/ceti/config/panda.srdf
new file mode 100644
index 0000000..8d475ff
--- /dev/null
+++ b/src/ceti/config/panda.srdf
@@ -0,0 +1,75 @@
+<?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="arm">
+ <chain base_link="base" tip_link="panda_link8"/>
+ </group>
+ <group name="hand">
+ <link name="panda_hand"/>
+ <link name="panda_leftfinger"/>
+ <link name="panda_rightfinger"/>
+ </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="home" group="arm">
+ <joint name="panda_joint1" value="-0.016"/>
+ <joint name="panda_joint2" value="-0.0097"/>
+ <joint name="panda_joint3" value="0.022"/>
+ <joint name="panda_joint4" value="-1.5708"/>
+ <joint name="panda_joint5" value="-0.006"/>
+ <joint name="panda_joint6" value="0.524"/>
+ <joint name="panda_joint7" value="0.5603"/>
+ </group_state>
+ <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+ <end_effector name="hand" parent_link="panda_link8" group="hand"/>
+ <!--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_joint" type="fixed" parent_frame="world" child_link="base"/>
+ <!--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" link2="panda_link0" reason="Adjacent"/>
+ <disable_collisions link1="base" link2="panda_link1" reason="Never"/>
+ <disable_collisions link1="base" link2="panda_link2" reason="Never"/>
+ <disable_collisions link1="base" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="base" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+ <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+ <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent"/>
+ <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+ <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+ <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+ <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+ <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+ <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+ <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+ <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+ <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+ <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+ <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+</robot>
diff --git a/src/ceti/config/ros_controllers.yaml b/src/ceti/config/ros_controllers.yaml
new file mode 100644
index 0000000..d16cf50
--- /dev/null
+++ b/src/ceti/config/ros_controllers.yaml
@@ -0,0 +1,62 @@
+arm_controller:
+ type: effort_controllers/JointTrajectoryController
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ gains:
+ panda_joint1:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint2:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint3:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint4:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint5:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint6:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_joint7:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+hand_controller:
+ type: effort_controllers/JointTrajectoryController
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
+ gains:
+ panda_finger_joint1:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
+ panda_finger_joint2:
+ p: 100
+ d: 1
+ i: 1
+ i_clamp: 1
\ No newline at end of file
diff --git a/src/ceti/config/sensors_3d.yaml b/src/ceti/config/sensors_3d.yaml
new file mode 100644
index 0000000..51010a3
--- /dev/null
+++ b/src/ceti/config/sensors_3d.yaml
@@ -0,0 +1,2 @@
+sensors:
+ []
\ No newline at end of file
diff --git a/src/ceti/config/simple_moveit_controllers.yaml b/src/ceti/config/simple_moveit_controllers.yaml
new file mode 100644
index 0000000..f82c864
--- /dev/null
+++ b/src/ceti/config/simple_moveit_controllers.yaml
@@ -0,0 +1,20 @@
+controller_list:
+ - name: arm_controller
+ action_ns: follow_joint_trajectory
+ type: FollowJointTrajectory
+ default: True
+ joints:
+ - panda_joint1
+ - panda_joint2
+ - panda_joint3
+ - panda_joint4
+ - panda_joint5
+ - panda_joint6
+ - panda_joint7
+ - name: hand_controller
+ action_ns: follow_joint_trajectory
+ type: FollowJointTrajectory
+ default: True
+ joints:
+ - panda_finger_joint1
+ - panda_finger_joint2
\ No newline at end of file
diff --git a/src/ceti/config/stomp_planning.yaml b/src/ceti/config/stomp_planning.yaml
new file mode 100644
index 0000000..5383fe2
--- /dev/null
+++ b/src/ceti/config/stomp_planning.yaml
@@ -0,0 +1,78 @@
+stomp/arm:
+ group_name: 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/hand:
+ group_name: hand
+ 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
diff --git a/src/ceti/launch/chomp_planning_pipeline.launch.xml b/src/ceti/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..f4f75e9
--- /dev/null
+++ b/src/ceti/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,23 @@
+<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="$(find ceti)/config/chomp_planning.yaml" />
+</launch>
diff --git a/src/ceti/launch/default_warehouse_db.launch b/src/ceti/launch/default_warehouse_db.launch
new file mode 100644
index 0000000..d53f014
--- /dev/null
+++ b/src/ceti/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+ <arg name="reset" default="false"/>
+ <!-- If not specified, we'll use a default database location -->
+ <arg name="moveit_warehouse_database_path" default="$(find ceti)/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>
diff --git a/src/ceti/launch/demo.launch b/src/ceti/launch/demo.launch
new file mode 100644
index 0000000..6ffc722
--- /dev/null
+++ b/src/ceti/launch/demo.launch
@@ -0,0 +1,69 @@
+<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="$(find ceti)/default_warehouse_mongo_db" />
+
+ <!-- By default, we are not in debug mode -->
+ <arg name="debug" default="false" />
+
+ <!-- By default, we will load or override the robot_description -->
+ <arg name="load_robot_description" default="true"/>
+
+ <!-- Choose controller manager: fake, simple, or ros_control -->
+ <arg name="moveit_controller_manager" default="fake" />
+ <!-- Set execution mode for fake execution controllers -->
+ <arg name="fake_execution_type" default="interpolate" />
+
+ <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+ <arg name="use_gui" default="false" />
+ <arg name="use_rviz" default="true" />
+
+ <!-- If needed, broadcast static tf for robot root -->
+ <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+ <group if="$(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)"/>
+ </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="$(arg db_path)"/>
+ </include>
+
+</launch>
diff --git a/src/ceti/launch/demo_gazebo.launch b/src/ceti/launch/demo_gazebo.launch
new file mode 100644
index 0000000..a9f320c
--- /dev/null
+++ b/src/ceti/launch/demo_gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+
+ <!-- specify the planning pipeline -->
+ <arg name="pipeline" default="ompl" />
+
+ <!-- Gazebo specific options -->
+ <arg name="gazebo_gui" default="true"/>
+ <arg name="paused" default="false"/>
+
+ <!-- launch the gazebo simulator and spawn the robot -->
+ <include file="$(dirname)/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+ </include>
+
+ <include file="$(dirname)/demo.launch" pass_all_args="true">
+ <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+ <arg name="load_robot_description" value="false" />
+ <arg name="moveit_controller_manager" value="ros_control" />
+ </include>
+</launch>
diff --git a/src/ceti/launch/fake_moveit_controller_manager.launch.xml b/src/ceti/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..8e2209e
--- /dev/null
+++ b/src/ceti/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+ <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+ <arg name="fake_execution_type" default="interpolate" />
+
+ <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+ <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+ <!-- The rest of the params are specific to this plugin -->
+ <rosparam subst_value="true" file="$(find ceti)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/src/ceti/launch/gazebo.launch b/src/ceti/launch/gazebo.launch
new file mode 100644
index 0000000..a96316f
--- /dev/null
+++ b/src/ceti/launch/gazebo.launch
@@ -0,0 +1,32 @@
+<?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_joint1 -0.016 -J panda_joint2 -0.0097 -J panda_joint3 0.022 -J panda_joint4 -1.5708 -J panda_joint5 -0.006 -J panda_joint6 0.524 -J panda_joint7 0.5603"/>
+
+ <!-- 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 '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
+
+ <!-- unpause only after loading robot model -->
+ <arg name="unpause" value="$(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)/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="$(dirname)/ros_controllers.launch"/>
+
+</launch>
diff --git a/src/ceti/launch/joystick_control.launch b/src/ceti/launch/joystick_control.launch
new file mode 100644
index 0000000..9411f6e
--- /dev/null
+++ b/src/ceti/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+ <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+ <arg name="dev" default="/dev/input/js0" />
+
+ <!-- Launch joy node -->
+ <node pkg="joy" type="joy_node" name="joy">
+ <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+ <param name="deadzone" value="0.2" />
+ <param name="autorepeat_rate" value="40" />
+ <param name="coalesce_interval" value="0.025" />
+ </node>
+
+ <!-- Launch python interface -->
+ <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/src/ceti/launch/move_group.launch b/src/ceti/launch/move_group.launch
new file mode 100644
index 0000000..68fa8a9
--- /dev/null
+++ b/src/ceti/launch/move_group.launch
@@ -0,0 +1,101 @@
+<launch>
+
+ <!-- GDB Debug Option -->
+ <arg name="debug" default="false" />
+ <arg unless="$(arg debug)" name="launch_prefix" value="" />
+ <arg if="$(arg debug)" name="launch_prefix"
+ value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
+
+ <!-- Verbose Mode Option -->
+ <arg name="info" default="$(arg debug)" />
+ <arg unless="$(arg info)" name="command_args" value="" />
+ <arg if="$(arg info)" name="command_args" value="--debug" />
+
+ <!-- move_group settings -->
+ <arg name="pipeline" default="ompl" />
+ <arg name="allow_trajectory_execution" default="true"/>
+ <arg name="moveit_controller_manager" default="simple" />
+ <arg name="fake_execution_type" default="interpolate"/>
+ <arg name="max_safe_path_cost" default="1"/>
+ <arg name="publish_monitored_planning_scene" default="true"/>
+
+ <arg name="capabilities" default=""/>
+ <arg name="disable_capabilities" default=""/>
+ <!-- load these non-default MoveGroup capabilities (space seperated) -->
+ <!--
+ <arg name="capabilities" value="
+ a_package/AwsomeMotionPlanningCapability
+ another_package/GraspPlanningPipeline
+ " />
+ -->
+
+ <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+ <!--
+ <arg name="disable_capabilities" value="
+ move_group/MoveGroupKinematicsService
+ move_group/ClearOctomapService
+ " />
+ -->
+
+ <arg name="load_robot_description" default="false" />
+ <!-- load URDF, SRDF and joint_limits configuration -->
+ <include file="$(dirname)/planning_context.launch">
+ <arg name="load_robot_description" value="$(arg load_robot_description)" />
+ </include>
+
+ <!-- Planning Pipelines -->
+ <group ns="move_group/planning_pipelines">
+
+ <!-- OMPL -->
+ <include file="$(dirname)/planning_pipeline.launch.xml">
+ <arg name="pipeline" value="ompl" />
+ </include>
+
+ <!-- CHOMP -->
+ <include file="$(dirname)/planning_pipeline.launch.xml">
+ <arg name="pipeline" value="chomp" />
+ </include>
+
+ <!-- Pilz Industrial Motion -->
+ <include file="$(dirname)/planning_pipeline.launch.xml">
+ <arg name="pipeline" value="pilz_industrial_motion_planner" />
+ </include>
+
+ <!-- Support custom planning pipeline -->
+ <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+ file="$(dirname)/planning_pipeline.launch.xml">
+ <arg name="pipeline" value="$(arg pipeline)" />
+ </include>
+ </group>
+
+ <!-- Trajectory Execution Functionality -->
+ <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+ <arg name="moveit_manage_controllers" value="true" />
+ <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+ <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
+ </include>
+
+ <!-- Sensors Functionality -->
+ <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+ <arg name="moveit_sensor_manager" value="panda" />
+ </include>
+
+ <!-- Start the actual move_group node/action server -->
+ <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+ <!-- Set the display variable, in case OpenGL code is used internally -->
+ <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+ <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+ <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+ <param name="default_planning_pipeline" value="$(arg pipeline)" />
+ <param name="capabilities" value="$(arg capabilities)" />
+ <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+ <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+ <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+ <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+ <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+ <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+ </node>
+
+</launch>
diff --git a/src/ceti/launch/moveit.rviz b/src/ceti/launch/moveit.rviz
new file mode 100644
index 0000000..5487c94
--- /dev/null
+++ b/src/ceti/launch/moveit.rviz
@@ -0,0 +1,131 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 84
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /MotionPlanning1
+ Splitter Ratio: 0.5
+ Tree Height: 226
+ - Class: rviz/Help
+ Name: Help
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: moveit_rviz_plugin/MotionPlanning
+ Enabled: true
+ Name: MotionPlanning
+ Planned Path:
+ Links: ~
+ Loop Animation: true
+ Robot Alpha: 0.5
+ Show Robot Collision: false
+ Show Robot Visual: true
+ Show Trail: false
+ State Display Time: 0.05 s
+ Trajectory Topic: move_group/display_planned_path
+ Planning Metrics:
+ Payload: 1
+ Show Joint Torques: false
+ Show Manipulability: false
+ Show Manipulability Index: false
+ Show Weight Limit: false
+ 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
+ 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
+ Show Scene Geometry: true
+ Voxel Coloring: Z-Axis
+ Voxel Rendering: Occupied Voxels
+ Scene Robot:
+ Attached Body Color: 150; 50; 150
+ Links: ~
+ Robot Alpha: 0.5
+ Show Scene Robot: true
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 2.0
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.75
+ Focal Point:
+ X: -0.1
+ Y: 0.25
+ Z: 0.30
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.5
+ Target Frame: base
+ Yaw: -0.6232355833053589
+ 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: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Views:
+ collapsed: false
+ Width: 1291
+ X: 454
+ Y: 25
diff --git a/src/ceti/launch/moveit_rviz.launch b/src/ceti/launch/moveit_rviz.launch
new file mode 100644
index 0000000..a4605c0
--- /dev/null
+++ b/src/ceti/launch/moveit_rviz.launch
@@ -0,0 +1,15 @@
+<launch>
+
+ <arg name="debug" default="false" />
+ <arg unless="$(arg debug)" name="launch_prefix" value="" />
+ <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+ <arg name="rviz_config" default="" />
+ <arg if="$(eval rviz_config=='')" name="command_args" value="" />
+ <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+ <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+ args="$(arg command_args)" output="screen">
+ </node>
+
+</launch>
diff --git a/src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml b/src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b078992
--- /dev/null
+++ b/src/ceti/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+ <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+ <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+ <arg name="planning_adapters" value="
+ default_planner_request_adapters/AddTimeParameterization
+ default_planner_request_adapters/FixWorkspaceBounds
+ default_planner_request_adapters/FixStartStateBounds
+ default_planner_request_adapters/FixStartStateCollision
+ default_planner_request_adapters/FixStartStatePathConstraints
+ chomp/OptimizerAdapter"
+ />
+ </include>
+
+ <!-- load chomp config -->
+ <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+ <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+ <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/src/ceti/launch/ompl_planning_pipeline.launch.xml b/src/ceti/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..35f8f39
--- /dev/null
+++ b/src/ceti/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,26 @@
+<launch>
+
+ <!-- The request adapters (plugins) used when planning with OMPL. 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"
+ />
+
+ <arg name="start_state_max_bounds_error" default="0.1" />
+ <arg name="jiggle_fraction" default="0.05" />
+
+ <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+ <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)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/src/ceti/launch/panda_moveit_sensor_manager.launch.xml b/src/ceti/launch/panda_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/src/ceti/launch/panda_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c7c4cf5
--- /dev/null
+++ b/src/ceti/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+ <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+ <arg name="planning_adapters" default="" />
+
+ <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+ <param name="request_adapters" value="$(arg planning_adapters)" />
+
+ <!-- Define default planner (for all groups) -->
+ <param name="default_planner_config" value="PTP" />
+
+ <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+ <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+ pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
diff --git a/src/ceti/launch/planning_context.launch b/src/ceti/launch/planning_context.launch
new file mode 100644
index 0000000..4f27851
--- /dev/null
+++ b/src/ceti/launch/planning_context.launch
@@ -0,0 +1,26 @@
+<launch>
+ <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+ <arg name="load_robot_description" default="false"/>
+
+ <!-- The name of the parameter under which the URDF is loaded -->
+ <arg name="robot_description" default="robot_description"/>
+
+ <!-- Load universal robot description format (URDF) -->
+ <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
+
+ <!-- The semantic description that corresponds to the URDF -->
+ <param name="$(arg robot_description)_semantic" textfile="$(find ceti)/config/panda.srdf" />
+
+ <!-- Load updated joint limits (override information from URDF) -->
+ <group ns="$(arg robot_description)_planning">
+ <rosparam command="load" file="$(find ceti)/config/joint_limits.yaml"/>
+ <rosparam command="load" file="$(find ceti)/config/cartesian_limits.yaml"/>
+ </group>
+
+ <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+ <group ns="$(arg robot_description)_kinematics">
+ <rosparam command="load" file="$(find ceti)/config/kinematics.yaml"/>
+
+ </group>
+
+</launch>
diff --git a/src/ceti/launch/planning_pipeline.launch.xml b/src/ceti/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..4b4d0d6
--- /dev/null
+++ b/src/ceti/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+ <!-- This file makes it easy to include different planning pipelines;
+ It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
+
+ <arg name="pipeline" default="ompl" />
+
+ <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/src/ceti/launch/ros_control_moveit_controller_manager.launch.xml b/src/ceti/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ebc91c
--- /dev/null
+++ b/src/ceti/launch/ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,4 @@
+<launch>
+ <!-- Define MoveIt controller manager plugin -->
+ <param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
diff --git a/src/ceti/launch/ros_controllers.launch b/src/ceti/launch/ros_controllers.launch
new file mode 100644
index 0000000..decb4f2
--- /dev/null
+++ b/src/ceti/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+ <!-- Load joint controller configurations from YAML file to parameter server -->
+ <rosparam file="$(find ceti)/config/ros_controllers.yaml" command="load"/>
+
+ <!-- Load the controllers -->
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+ output="screen" args="arm_controller hand_controller "/>
+
+</launch>
diff --git a/src/ceti/launch/run_benchmark_ompl.launch b/src/ceti/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000..213b598
--- /dev/null
+++ b/src/ceti/launch/run_benchmark_ompl.launch
@@ -0,0 +1,21 @@
+<launch>
+
+ <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+ <arg name="cfg" />
+
+ <!-- Load URDF -->
+ <include file="$(dirname)/planning_context.launch">
+ <arg name="load_robot_description" value="true"/>
+ </include>
+
+ <!-- Start the database -->
+ <include file="$(dirname)/warehouse.launch">
+ <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+ </include>
+
+ <!-- Start Benchmark Executable -->
+ <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+ <rosparam command="load" file="$(find ceti)/config/ompl_planning.yaml"/>
+ </node>
+
+</launch>
diff --git a/src/ceti/launch/sensor_manager.launch.xml b/src/ceti/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..0d3f63c
--- /dev/null
+++ b/src/ceti/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+ <!-- This file makes it easy to include the settings for sensor managers -->
+
+ <!-- Params for 3D sensors config -->
+ <rosparam command="load" file="$(find ceti)/config/sensors_3d.yaml" />
+
+ <!-- Params for the octomap monitor -->
+ <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+ <param name="octomap_resolution" type="double" value="0.025" />
+ <param name="max_range" type="double" value="5.0" />
+
+ <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+ <arg name="moveit_sensor_manager" default="panda" />
+ <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/src/ceti/launch/setup_assistant.launch b/src/ceti/launch/setup_assistant.launch
new file mode 100644
index 0000000..0fea89d
--- /dev/null
+++ b/src/ceti/launch/setup_assistant.launch
@@ -0,0 +1,16 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+ <!-- Debug Info -->
+ <arg name="debug" default="false" />
+ <arg unless="$(arg debug)" name="launch_prefix" value="" />
+ <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+ <!-- Run -->
+ <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+ args="--config_pkg=ceti"
+ launch-prefix="$(arg launch_prefix)"
+ required="true"
+ output="screen" />
+
+</launch>
diff --git a/src/ceti/launch/simple_moveit_controller_manager.launch.xml b/src/ceti/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..1dfaffa
--- /dev/null
+++ b/src/ceti/launch/simple_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+ <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+ <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+ <!-- Load controller list to the parameter server -->
+ <rosparam file="$(find ceti)/config/simple_moveit_controllers.yaml" />
+ <rosparam file="$(find ceti)/config/ros_controllers.yaml" />
+</launch>
diff --git a/src/ceti/launch/stomp_planning_pipeline.launch.xml b/src/ceti/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b6b4e05
--- /dev/null
+++ b/src/ceti/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+ <!-- Stomp Plugin for MoveIt -->
+ <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+ <arg name="start_state_max_bounds_error" value="0.1" />
+ <arg name="jiggle_fraction" value="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/FixWorkspaceBounds
+ default_planner_request_adapters/FixStartStateBounds
+ default_planner_request_adapters/FixStartStateCollision
+ default_planner_request_adapters/FixStartStatePathConstraints" />
+
+
+ <param name="planning_plugin" value="$(arg planning_plugin)" />
+ <param name="request_adapters" value="$(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="$(find ceti)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/src/ceti/launch/trajectory_execution.launch.xml b/src/ceti/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..20c3dfc
--- /dev/null
+++ b/src/ceti/launch/trajectory_execution.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+ <!-- This file summarizes all settings required for trajectory execution -->
+
+ <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+ <arg name="moveit_controller_manager" />
+ <arg name="fake_execution_type" default="interpolate" />
+
+ <!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
+ <arg name="moveit_manage_controllers" default="true"/>
+ <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+ <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+ <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+ <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+ <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+ <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+ <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+ <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+ As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+ <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
+
+</launch>
diff --git a/src/ceti/launch/warehouse.launch b/src/ceti/launch/warehouse.launch
new file mode 100644
index 0000000..0712e67
--- /dev/null
+++ b/src/ceti/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+ <!-- The path to the database must be specified -->
+ <arg name="moveit_warehouse_database_path" />
+
+ <!-- Load warehouse parameters -->
+ <include file="$(dirname)/warehouse_settings.launch.xml" />
+
+ <!-- Run the DB server -->
+ <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+ <param name="overwrite" value="false"/>
+ <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+ </node>
+
+</launch>
diff --git a/src/ceti/launch/warehouse_settings.launch.xml b/src/ceti/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/src/ceti/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+ <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+ <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+ <arg name="moveit_warehouse_port" default="33829" />
+
+ <!-- The default DB host for moveit -->
+ <arg name="moveit_warehouse_host" default="localhost" />
+
+ <!-- Set parameters for the warehouse -->
+ <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+ <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+ <param name="warehouse_exec" value="mongod" />
+ <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/src/ceti/package.xml b/src/ceti/package.xml
new file mode 100644
index 0000000..a684df7
--- /dev/null
+++ b/src/ceti/package.xml
@@ -0,0 +1,41 @@
+<package>
+
+ <name>ceti</name>
+ <version>0.3.0</version>
+ <description>
+ An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
+ </description>
+ <author email="matteo.aneddama@gmail.com">matteo</author>
+ <maintainer email="matteo.aneddama@gmail.com">matteo</maintainer>
+
+ <license>BSD</license>
+
+ <url type="website">http://moveit.ros.org/</url>
+ <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+ <url type="repository">https://github.com/ros-planning/moveit</url>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <run_depend>moveit_ros_move_group</run_depend>
+ <run_depend>moveit_fake_controller_manager</run_depend>
+ <run_depend>moveit_kinematics</run_depend>
+ <run_depend>moveit_planners_ompl</run_depend>
+ <run_depend>moveit_ros_visualization</run_depend>
+ <run_depend>moveit_setup_assistant</run_depend>
+ <run_depend>moveit_simple_controller_manager</run_depend>
+ <run_depend>joint_state_publisher</run_depend>
+ <run_depend>joint_state_publisher_gui</run_depend>
+ <run_depend>robot_state_publisher</run_depend>
+ <run_depend>rviz</run_depend>
+ <run_depend>tf2_ros</run_depend>
+ <run_depend>xacro</run_depend>
+ <!-- The next 2 packages are required for the gazebo simulation.
+ We don't include them by default to prevent installing gazebo and all its dependencies. -->
+ <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+ <!-- <run_depend>gazebo_ros_control</run_depend> -->
+ <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+ <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+ <run_depend>franka_description</run_depend>
+
+
+</package>
diff --git a/src/mtc/launch/grasp_pipeline.launch b/src/mtc/launch/grasp_pipeline.launch
index c5019dc..ffe1b35 100644
--- a/src/mtc/launch/grasp_pipeline.launch
+++ b/src/mtc/launch/grasp_pipeline.launch
@@ -42,7 +42,7 @@
<!-- Planning Functionality -->
<arg name="planner" default="ompl" />
- <include ns="moveit_grasps" file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
+ <include ns="moveit_grasps" file="$(find ceti)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg planner)" />
</include>
diff --git a/src/mtc/maps/dummy.yaml b/src/mtc/maps/dummy.yaml
index 85ae621..658d413 100644
--- a/src/mtc/maps/dummy.yaml
+++ b/src/mtc/maps/dummy.yaml
@@ -1,44 +1,35 @@
data:
- - -0.704647 -0.085013 0.103821 -0.063726 -0.039416 -0.249854 0.965380
- - -0.513205 -0.514270 0.103184 0.092404 -0.010381 -0.590406 0.801732
- - -0.499355 -0.290624 0.104579 -0.041985 -0.015622 -0.411819 0.910164
- - -0.459296 -0.182886 0.049981 -0.221514 0.461441 -0.859037 0.007668
- - -0.519670 0.093757 0.102952 0.057347 -0.080399 -0.305704 0.946991
- - -0.499105 0.404992 0.000930 -0.557591 0.429723 0.428737 0.566228
- - -0.489862 0.521042 0.102369 -0.020562 0.110022 0.800758 0.588437
- - -0.294706 -0.580002 0.067799 0.390187 -0.157800 0.394885 0.816651
- - -0.322003 -0.302647 0.102635 0.061764 -0.086307 -0.477962 0.871946
- - -0.297281 -0.032005 0.079964 -0.311869 -0.148179 -0.436303 0.830916
- - -0.323814 0.102339 0.102237 0.017354 -0.113384 -0.245576 0.962567
- - -0.221989 0.339610 0.058054 -0.434513 -0.186412 -0.879328 0.056848
- - -0.282236 0.566463 -0.079323 -0.842237 0.410323 0.066782 0.343238
- - -0.045863 -0.717152 0.088317 -0.256995 0.115736 -0.952974 0.111348
- - -0.017530 -0.503598 0.064890 -0.243688 0.362787 -0.533595 0.724071
- - -0.087573 -0.290814 0.103857 -0.066561 0.031855 -0.467458 0.880930
- - -0.162281 0.379039 0.029983 -0.367444 -0.471388 -0.191603 0.778503
- - -0.001871 0.499820 0.037360 -0.225484 0.520819 -0.328508 0.754975
- - 0.000220 0.731249 -0.002125 0.004754 0.714210 0.212787 0.666785
- - 0.097747 -0.713925 0.104048 0.058142 0.033945 -0.634190 0.770241
- - 0.000591 -0.480898 -0.027892 -0.540596 -0.583588 0.320502 0.514257
- - 0.177063 -0.326099 0.066371 -0.179291 0.389617 -0.620917 0.656137
- - 0.071622 -0.165081 0.077357 0.042348 -0.360331 0.804873 0.469626
- - 0.175867 0.259083 -0.059958 -0.622893 0.630490 -0.442872 0.135467
- - 0.071068 0.437589 0.079327 0.239442 0.254795 -0.889244 0.294944
- - 0.252831 -0.566984 0.065675 0.121811 -0.415237 0.561186 0.705557
- - 0.295272 -0.292902 0.104653 0.015052 -0.037756 -0.977591 0.206554
- - 0.284065 -0.076036 0.100979 -0.071881 -0.118235 -0.419818 0.896999
- - 0.382397 0.139887 0.051428 -0.304978 0.402606 -0.169316 0.846303
- - 0.238413 0.384767 0.006826 -0.655008 -0.196111 0.241573 0.688584
- - 0.237968 0.455913 0.072342 0.158007 -0.361317 0.187635 0.899598
- - 0.582562 -0.238750 0.021376 -0.629042 0.050133 -0.584335 0.510240
- - 0.515243 -0.097356 0.103854 -0.073570 0.006677 -0.963172 0.258540
- - 0.548987 0.125685 0.089250 -0.243039 0.126222 -0.550080 0.788930
- - 0.526708 0.200380 -0.019687 0.363156 -0.679607 0.620766 0.144572
- - 0.545807 0.477673 0.091806 -0.188434 0.165296 -0.933886 0.255002
- - 0.698731 -0.108383 0.104657 0.037677 0.014594 -0.496260 0.867233
- - 0.688405 0.103068 0.104313 0.013921 -0.055488 -0.482543 0.874002
+ - -0.500000 -0.300000 0.885000 -0.000351 -0.587573 -0.809145 0.006419
+ - -0.500000 -0.100000 0.885000 0.399194 0.560541 -0.479417 0.544607
+ - -0.500000 0.100000 0.885000 -0.055008 -0.026243 -0.307218 0.949686
+ - -0.300000 -0.500000 0.885000 -0.189051 -0.725537 -0.142815 0.646111
+ - -0.300000 -0.300000 0.885000 -0.001376 0.000193 -0.452168 0.891932
+ - -0.300000 -0.100000 0.885000 0.002569 0.016521 0.999449 0.028674
+ - -0.300000 0.100000 0.885000 -0.356466 -0.452052 0.339010 0.744079
+ - -0.300000 0.300000 0.885000 -0.012014 -0.009510 -0.357271 0.933875
+ - -0.100000 -0.500000 0.885000 0.308517 -0.609275 -0.698421 0.214030
+ - -0.100000 -0.300000 0.885000 -0.751057 -0.513430 0.241023 0.337950
+ - -0.100000 -0.100000 0.885000 0.482030 -0.003684 0.433699 0.761274
+ - -0.100000 0.100000 0.885000 0.560023 -0.208890 -0.683158 0.419565
+ - -0.100000 0.100000 1.085000 -0.518113 -0.000194 -0.244317 0.819675
+ - -0.100000 0.300000 0.885000 0.464837 -0.321952 -0.708882 0.421615
+ - -0.100000 0.500000 0.885000 0.074026 0.072863 0.296321 0.949424
+ - 0.100000 -0.500000 0.885000 -0.007942 -0.069720 -0.932787 0.353531
+ - 0.100000 -0.300000 0.885000 0.018094 0.001651 -0.561943 0.826976
+ - 0.100000 -0.100000 0.885000 0.060155 -0.700045 0.318748 0.636174
+ - 0.100000 0.100000 0.885000 -0.247111 -0.179083 -0.641048 0.704218
+ - 0.100000 0.100000 1.085000 -0.188640 0.290960 -0.906098 0.242371
+ - 0.100000 0.300000 0.885000 -0.000001 0.000328 -0.386438 0.922315
+ - 0.100000 0.500000 0.885000 -0.551419 0.149555 -0.145163 0.807774
+ - 0.300000 -0.300000 0.885000 -0.778941 -0.031396 -0.206180 0.591400
+ - 0.300000 -0.100000 0.885000 -0.201027 0.728163 -0.264099 0.599682
+ - 0.300000 0.100000 0.885000 0.399720 -0.302392 0.254966 0.826907
+ - 0.300000 0.300000 0.885000 -0.248105 0.115392 -0.798538 0.536158
+ - 0.500000 -0.100000 0.885000 -0.201778 0.200151 -0.158703 0.945536
+ - 0.500000 0.100000 0.885000 0.014289 0.056052 -0.322179 0.944910
+ - 0.500000 0.300000 0.885000 -0.702128 -0.167470 0.189804 0.665541
description:
system: Franka Emika 'Panda'
resolution: 0.2
- dimension: 0.900000 0.900000 0.000000 (m)
- timestamp: 1712.052411 sec
\ No newline at end of file
+ dimension: 0.900000 0.900000 1.200000 (m)
+ timestamp: 8995.084193 sec
\ No newline at end of file
diff --git a/src/mtc/src/grasp_pipeline.cpp b/src/mtc/src/grasp_pipeline.cpp
index 12f13b2..123b0ff 100644
--- a/src/mtc/src/grasp_pipeline.cpp
+++ b/src/mtc/src/grasp_pipeline.cpp
@@ -201,7 +201,7 @@ public:
// --------------------------------------------s
// Filtering grasps
// Note: This step also solves for the grasp and pre-grasp states and stores them in gras
-
+ /*
void visualizePick(const moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,
const moveit_msgs::MotionPlanResponse& pre_approach_plan)
{
@@ -265,6 +265,7 @@ public:
valid_grasp_candidate->grasp_data_->arm_jmg_, wait_for_animation);
ros::Duration(0.25).sleep();
}
+ */
bool planFullGrasp(std::vector<moveit_grasps::GraspCandidatePtr>& grasp_candidates,
moveit_grasps::GraspCandidatePtr& valid_grasp_candidate,
@@ -325,16 +326,7 @@ public:
// Change the robot current state
// NOTE: We have to do this since Panda start configuration is in self collision.
robot_state::RobotState rs = (*ls)->getCurrentState();
- std::vector<double> starting_joint_values = { 0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785 };
- std::vector<std::string> joint_names = { "panda_joint1", "panda_joint2", "panda_joint3", "panda_joint4",
- "panda_joint5", "panda_joint6", "panda_joint7" };
- // arm_jmg_->getActiveJointModelNames();
- for (std::size_t i = 0; i < joint_names.size(); ++i)
- {
- rs.setJointPositions(joint_names[i], &starting_joint_values[i]);
- }
- rs.update();
- robot_state::robotStateToRobotStateMsg(rs, req.start_state);
+ robot_state::robotStateToRobotStateMsg(rs, req.start_state);
// ---------------------------
planning_pipeline_->generatePlan(*ls, req, res);
@@ -584,7 +576,7 @@ int main(int argc, char* argv[])
double z_depth = 0.4;
float dimension_x = 0.9;
float dimension_y = 0.9;
- float dimension_z = 0; //1.2;
+ float dimension_z = 1.2;
float resolution = 0.2;
@@ -593,10 +585,9 @@ int main(int argc, char* argv[])
for (float x = 0 - dimension_x; x <= -0.22f + dimension_x; x+= resolution){
for(float y = 0 - dimension_y; y <= 0 + dimension_y; y+= resolution){
- for(float z = 0 - dimension_z; z <= 0.885f + dimension_z; z+= resolution){
- //tester.reachGrasp(x,y,z, object_name, x_depth, y_depth, z_depth);
+ for(float z = 0.885f; z <= 0.885f + dimension_z; z+= resolution){
+ tester.reachGrasp(x,y,z, object_name, x_depth, y_depth, z_depth);
}
- tester.reachGrasp(x,y,dimension_z, object_name, x_depth, y_depth, z_depth);
}
}
--
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