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Commit 64bb969f authored by Johannes Mey's avatar Johannes Mey
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update to noetic-devel

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.setup_assistant
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moveit_setup_assistant_config:
URDF:
package: franka_description
relative_path: robots/panda_arm_hand.urdf.xacro
relative_path: robots/panda_arm.urdf.xacro
xacro_args: hand:=true
SRDF:
relative_path: config/panda_arm.srdf.xacro
relative_path: config/panda.srdf.xacro
CONFIG:
author_name: Mike Lautman
author_email: mike@picknik.ai
generated_timestamp: 1519152260
\ No newline at end of file
author_name: MoveIt maintainer team
author_email: moveit_releasers@googlegroups.com
generated_timestamp: 1636310680
CHANGELOG.rst deleted 100644 → 0
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package panda_moveit_config
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.7.4 (2020-03-27)
------------------
* [fix] Add time parameterization in stomp_planning_pipeline.launch (`#59 <https://github.com/ros-planning/panda_moveit_config/issues/59>`_)
* [fix] add joint_state_publisher_gui to package.xml (`#54 <https://github.com/ros-planning/panda_moveit_config/issues/54>`_)
* [fix] Add static transform publisher (`#51 <https://github.com/ros-planning/panda_moveit_config/issues/51>`_)
* [maintanence] demo_chomp.launch: reuse demo.launch (`#57 <https://github.com/ros-planning/panda_moveit_config/issues/57>`_)
* [maintanence] Define 'extended' state for 'panda_arm' group (`#47 <https://github.com/ros-planning/panda_moveit_config/issues/47>`_)
* Contributors: Mike Lautman, Robert Haschke, Sebastian Wallkötter, jsbyysheng
0.7.3 (2019-11-21)
------------------
* cleanup warehouse settings (`#43 <https://github.com/ros-planning/panda_moveit_config/issues/43>`_)
* demo_chomp.launch: Rename arg planner to pipeline (`#42 <https://github.com/ros-planning/panda_moveit_config/issues/42>`_)
Fixup of 0b7ac4e6ea147003fd01d0b51723452ff320a5ea (`#29 <https://github.com/ros-planning/panda_moveit_config/issues/29>`_)
* Remove deprecated inorder tag to fix warning (`#36 <https://github.com/ros-planning/panda_moveit_config/issues/36>`_)
* Necessary files to run LERP (`#40 <https://github.com/ros-planning/panda_moveit_config/issues/40>`_)
* added new files for emptyplan
* edited demo.launch to accept planner arg
* Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file.
Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file
* added necessary files for LERP
* chaged the virtual joint to fixed
* added yaml file
* addressed the comments
* revet back to floating for virtual joint and revert moveit.rviz
* Add fully extended pose: 'extended' (`#39 <https://github.com/ros-planning/panda_moveit_config/issues/39>`_)
* Add TrajOpt launch files to panda_moveit_config (`#29 <https://github.com/ros-planning/panda_moveit_config/issues/29>`_)
* added new files for emptyplan
* edited demo.launch to accept planner arg
* Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file.
Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file
* from empty to trajopt
* modified some comment
* renamed and edited the context of files from empty to trajopt
* removed move_group_trajop.launch, we do not need this file
* applied Dave's comments
* restored setup_assistant
* added trajopt params in yaml file
removed extra planner arg in demo.launch
* addressed the comments
* corrected pipeline in move_group
* Added open and closed poses (`#34 <https://github.com/ros-planning/panda_moveit_config/issues/34>`_)
* Adapt pipelines (`#31 <https://github.com/ros-planning/panda_moveit_config/issues/31>`_)
* add default_planner_request_adapters/ResolveConstraintFrames
* chomp pipeline: define default planning adapters
* demo.launch: expose planner arg (`#30 <https://github.com/ros-planning/panda_moveit_config/issues/30>`_)
* Contributors: Dave Coleman, Henning Kayser, Jafar Abdi, Omid Heidari, Robert Haschke, simonGoldstein
0.7.2 (2019-04-22)
------------------
* removing unused attempts param (`#26 <https://github.com/ros-planning/panda_moveit_config/issues/26>`_)
* virtual joint quaternion->rpy
* fixing the virtual joint issue by adding the broadcaster (`#23 <https://github.com/ros-planning/panda_moveit_config/issues/23>`_)
* changing the end effector parent group (`#20 <https://github.com/ros-planning/panda_moveit_config/issues/20>`_)
* changing the end effector parent group
* changing virtual joint to floating for use with moveit_visual_tools
* Fix incorrect SRDF path (`#19 <https://github.com/ros-planning/panda_moveit_config/issues/19>`_)
* Contributors: Dave Coleman, Mike Lautman
0.7.1 (2018-12-10)
------------------
* CHOMP: remove "Hybrid" collision detector (`#16 <https://github.com/ros-planning/panda_moveit_config/pull/16>`_)
* Contributors: Robert Haschke
0.7.0 (2018-11-09)
------------------
* Initial release of panda_moveit_config into Melodic, including OMPL, CHOMP and STOMP configs
We moved/merged this repo from https://github.com/frankaemika/franka_ros.
* Contributors: Dave Coleman, Florian Walch, Mike Lautman, Raghavender Sahdev
CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.1.3)
project(panda_moveit_config)
find_package(catkin REQUIRED)
......
README.md
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# Franka Emika Panda MoveIt! Config Package
# Franka Emika Panda MoveIt Config Package
The Panda robot is the flagship MoveIt! integration robot used in the MoveIt! tutorials.
Any changes to MoveIt! need to be propagated into this config fast, so this package
The Panda robot is the flagship MoveIt integration robot used in the MoveIt tutorials.
Any changes to MoveIt need to be propagated into this config fast, so this package
is co-located under the ``ros-planning`` Github organization here.
config/arm.xacro 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="arm" params="name tip_link">
<!--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="${name}">
<chain base_link="panda_link0" tip_link="${tip_link}" />
</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="${name}">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="${-pi/4}" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="${-3*pi/4}" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="${pi/2}" />
<joint name="panda_joint7" value="${pi/4}" />
</group_state>
<group_state name="extended" group="${name}">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="0" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-0.1" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="${pi}" />
<joint name="panda_joint7" value="${pi/4}" />
</group_state>
</xacro:macro>
<!--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="panda_link0" />
<xacro:macro name="collision" params="link">
<!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${link}_sc" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link0" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link1" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link2" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link3" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link4" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link5" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link6" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link7" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link8" reason="Default" />
</xacro:macro>
<xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link1" />
<enable_collisions link1="panda_link1_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link2" />
<enable_collisions link1="panda_link2_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link3" />
<enable_collisions link1="panda_link3_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link3_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link4" />
<xacro:collision link="panda_link5" />
<xacro:collision link="panda_link6" />
<xacro:collision link="panda_link7" />
<xacro:collision link="panda_link8" />
</robot>
config/cartesian_limits.yaml 0 → 100644
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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57
config/chomp_planning.yaml
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......@@ -4,25 +4,15 @@ max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
animate_path: true
add_randomness: false
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
hmc_discretization: 0.01
hmc_stochasticity: 0.01
hmc_annealing_factor: 0.99
use_hamiltonian_monte_carlo: false
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
animate_endeffector: false
animate_endeffector_segment: "panda_rightfinger"
joint_update_limit: 0.1
collision_clearence: 0.2
collision_clearance: 0.2
collision_threshold: 0.07
random_jump_amount: 1.0
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5
trajectory_initialization_method: "quintic-spline"
config/fake_controllers.yaml
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controller_list:
- name: fake_panda_arm_controller
type: $(arg fake_execution_type)
joints:
- panda_joint1
- panda_joint2
......@@ -9,10 +10,21 @@ controller_list:
- panda_joint6
- panda_joint7
- name: fake_hand_controller
type: $(arg fake_execution_type)
joints:
- panda_finger_joint1
- panda_finger_joint2
initial:
- name: fake_panda_arm_hand_controller
type: $(arg fake_execution_type)
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- panda_finger_joint1
initial: # Define initial robot poses per group
- group: panda_arm
pose: ready
- group: hand
......
config/gazebo_controllers.yaml 0 → 100644
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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
config/hand.xacro
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<?xml version="1.0" ?>
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model -->
<disable_collisions link1="${finger}" link2="panda_link0" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand_sc" reason="Default" />
</xacro:macro>
<xacro:macro name="hand">
<!--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-->
......@@ -10,14 +25,38 @@
<link name="panda_hand"/>
<link name="panda_leftfinger"/>
<link name="panda_rightfinger"/>
<joint name="panda_finger_joint1" />
<passive_joint name="panda_finger_joint2" />
</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="open" group="hand">
<joint name="panda_finger_joint1" value="0.035"/>
<joint name="panda_finger_joint2" value="0.035"/>
</group_state>
<group_state name="close" group="hand">
<joint name="panda_finger_joint1" value="0"/>
<joint name="panda_finger_joint2" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--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)-->
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<!--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="panda_hand" link2="panda_leftfinger" reason="Adjacent" />
<disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent" />
<disable_default_collisions link="panda_hand_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link0" />
<enable_collisions link1="panda_hand_sc" link2="panda_link1" />
<enable_collisions link1="panda_hand_sc" link2="panda_link2" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3" />
<!-- Disable collision of hand with all arm links. These are handled by the *_sc links -->
<disable_collisions link1="panda_hand" link2="panda_link0" />
<disable_collisions link1="panda_hand" link2="panda_link1" />
<disable_collisions link1="panda_hand" link2="panda_link2" />
<disable_collisions link1="panda_hand" link2="panda_link3" />
<disable_collisions link1="panda_hand" link2="panda_link4" />
<disable_collisions link1="panda_hand" link2="panda_link5" />
<disable_collisions link1="panda_hand" link2="panda_link6" />
<disable_collisions link1="panda_hand" link2="panda_link7" />
<disable_collisions link1="panda_hand" link2="panda_link8" />
<xacro:finger_collisions finger="panda_leftfinger" />
<xacro:finger_collisions finger="panda_rightfinger" />
<disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
</xacro:macro>
</robot>
config/joint_limits.yaml
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# 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]
......@@ -8,6 +14,16 @@
# max_jerk = (max_acceleration - min_acceleration) / 0.001
joint_limits:
panda_finger_joint1:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_finger_joint2:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_joint1:
has_velocity_limits: true
max_velocity: 2.1750
......@@ -43,13 +59,4 @@ joint_limits:
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 5
panda_finger_joint1:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_finger_joint2:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
config/kinematics.yaml
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config/ompl_planning.yaml
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planner_configs:
SBLkConfigDefault:
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()
ESTkConfigDefault:
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
LBKPIECEkConfigDefault:
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
BKPIECEkConfigDefault:
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
KPIECEkConfigDefault:
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
RRTkConfigDefault:
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
RRTConnectkConfigDefault:
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
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
TRRTkConfigDefault:
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
......@@ -47,12 +54,12 @@ planner_configs:
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()
PRMkConfigDefault:
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstarkConfigDefault:
PRMstar:
type: geometric::PRMstar
FMTkConfigDefault:
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
......@@ -60,7 +67,7 @@ planner_configs:
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
BFMTkConfigDefault:
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
......@@ -70,9 +77,9 @@ planner_configs:
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
PDSTkConfigDefault:
PDST:
type: geometric::PDST
STRIDEkConfigDefault:
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
......@@ -83,7 +90,7 @@ planner_configs:
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
BiTRRTkConfigDefault:
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
......@@ -91,115 +98,114 @@ planner_configs:
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
LBTRRTkConfigDefault:
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
BiESTkConfigDefault:
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjESTkConfigDefault:
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
LazyPRMkConfigDefault:
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstarkConfigDefault:
LazyPRMstar:
type: geometric::LazyPRMstar
SPARSkConfigDefault:
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
SPARStwokConfigDefault:
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
TrajOptDefault:
type: geometric::TrajOpt
panda_arm:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
enforce_joint_model_state_space: true
panda_arm_hand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
enforce_joint_model_state_space: true
- 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_joint1,panda_joint2)
longest_valid_segment_fraction: 0.005
hand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
- TrajOptDefault
- 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_arm_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
projection_evaluator: joints(panda_joint1,panda_joint2)
longest_valid_segment_fraction: 0.005
config/panda.srdf.xacro 0 → 100644
+ 25
− 0
View file @ 64bb969f
<?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 xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find panda_moveit_config)/config/arm.xacro" />
<xacro:arm name="manipulator" tip_link="panda_hand_tcp" />
<!-- old group name with old end-effector link -->
<xacro:arm name="panda_arm" tip_link="panda_link8"/>
<xacro:arg name="hand" default="false" />
<!--Add the hand if people request it-->
<xacro:if value="$(arg hand)">
<xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
<xacro:hand />
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand_tcp" parent_link="panda_hand_tcp" group="hand" parent_group="manipulator" />
<!-- old end-effector -->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
</xacro:if>
</robot>
config/panda_arm.srdf.xacro deleted 100644 → 0
+ 0
− 9
View file @ 410069f8
<?xml version='1.0' encoding='utf-8'?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
<xacro:panda_arm />
</robot>
config/panda_arm.xacro deleted 100644 → 0
+ 0
− 64
View file @ 410069f8
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="panda_arm">
<!--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_arm">
<chain base_link="panda_link0" tip_link="panda_link8" />
</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_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="-0.785" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-2.356" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="1.571" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="extended" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="0" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="0" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<group_state name="transport" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="-0.5599" />
<joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="-2.97" />
<joint name="panda_joint5" value="0" />
<joint name="panda_joint6" value="0" />
<joint name="panda_joint7" value="0.785" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--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="floating" parent_frame="world" child_link="panda_link0" />
<!--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="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="Default" />
<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_link6" 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_link8" reason="Never" />
<disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
<disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
<disable_collisions link1="panda_link6" link2="panda_link8" reason="Default" />
<disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />
</xacro:macro>
</robot>
config/panda_arm_hand.srdf.xacro deleted 100644 → 0
+ 0
− 43
View file @ 410069f8
<?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 xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="$(find panda_moveit_config)/config/panda_arm.xacro" />
<xacro:include filename="$(find panda_moveit_config)/config/hand.xacro" />
<xacro:panda_arm />
<xacro:hand />
<!--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_arm_hand">
<group name="panda_arm" />
<group name="hand" />
</group>
<group_state name="open" group="hand">
<joint name="panda_finger_joint1" value="0.035" />
<joint name="panda_finger_joint2" value="0.035" />
</group_state>
<group_state name="close" group="hand">
<joint name="panda_finger_joint1" value="0" />
<joint name="panda_finger_joint2" value="0" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
<!--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="panda_hand" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Default" />
<disable_collisions link1="panda_hand" link2="panda_link8" reason="Adjacent" />
<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_link8" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link8" link2="panda_rightfinger" reason="Never" />
</robot>
config/panda_controllers.yaml deleted 100644 → 0
+ 0
− 13
View file @ 410069f8
controller_list:
- name: position_joint_trajectory_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
config/ros_controllers.yaml 0 → 100644
+ 0
− 0
View file @ 64bb969f
config/panda_gripper_controllers.yaml → config/simple_moveit_controllers.yaml
+ 4
− 5
View file @ 64bb969f
controller_list:
- name: position_joint_trajectory_controller
- name: $(arg transmission)_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
default: True
joints:
- panda_joint1
- panda_joint2
......@@ -14,7 +14,6 @@
- name: franka_gripper
action_ns: gripper_action
type: GripperCommand
default: true
default: True
joints:
- panda_finger_joint1
- panda_finger_joint2
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