MoveIt config: Fix fake execution, update joint limits

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ## 0.4.0 - UNRELEASED
 
+  * Changes in `panda_moveit_config`:
+    * Updated joint limits from URDF
+    * Removed `home` poses
+    * Fixed fake execution
   * Added `mimic` tag for gripper fingers to URDF
 
 ## 0.3.0 - 2018-02-22

panda_moveit_config/config/fake_controllers.yaml

 controller_list:
-  - name: fake_panda_controller
-    joints:
-      - panda_joint1
-      - panda_joint2
-      - panda_joint3
-      - panda_joint4
-      - panda_joint5
-      - panda_joint6
-      - panda_joint7
-  - name: fake_panda_arm_hand_controller
+  - name: fake_panda_arm_controller
     joints:
       - panda_joint1
       - panda_joint2
@@ -21,3 +12,6 @@ controller_list:
     joints:
       - panda_finger_joint1
       - panda_finger_joint2
+initial:
+  - group: panda_arm_hand
+    pose: ready

panda_moveit_config/config/joint_limits.yaml

@@ -2,48 +2,38 @@
 # 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: 0.3
-    has_acceleration_limits: true
-    max_acceleration: 0.5
-  panda_finger_joint2:
-    has_velocity_limits: true
-    max_velocity: 0.3
-    has_acceleration_limits: true
-    max_acceleration: 0.5
   panda_joint1:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.3925
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint2:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.3925
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint3:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.3925
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint4:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.3925
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint5:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.871
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint6:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.871
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint7:
     has_velocity_limits: true
-    max_velocity: 0.5
-    has_acceleration_limits: true
-    max_acceleration: 0.5
+    max_velocity: 2.871
+    has_acceleration_limits: false
+    max_acceleration: 0

panda_moveit_config/config/kinematics.yaml

-panda:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-panda_arm_hand:
+panda_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005

panda_moveit_config/config/ompl_planning.yaml

@@ -120,7 +120,7 @@ planner_configs:
     sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
-panda:
+panda_arm:
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault

panda_moveit_config/config/panda_arm_hand.srdf

@@ -30,26 +30,26 @@
         <chain base_link="panda_link0" tip_link="panda_link8" />
     </group>
     <group name="panda_arm_hand">
-        <link name="panda_link0" />
-        <link name="panda_link1" />
-        <link name="panda_link2" />
-        <link name="panda_link3" />
-        <link name="panda_link4" />
-        <link name="panda_link5" />
-        <link name="panda_link6" />
-        <link name="panda_link7" />
-        <link name="panda_link8" />
-        <link name="panda_hand" />
-        <joint name="panda_joint1" />
-        <joint name="panda_joint2" />
-        <joint name="panda_joint3" />
-        <joint name="panda_joint4" />
-        <joint name="panda_joint5" />
-        <joint name="panda_joint6" />
-        <joint name="panda_joint7" />
-        <joint name="panda_joint8" />
-        <joint name="panda_hand_joint" />
-        <chain base_link="panda_link0" tip_link="panda_hand" />
+      <link name="panda_link0" />
+      <link name="panda_link1" />
+      <link name="panda_link2" />
+      <link name="panda_link3" />
+      <link name="panda_link4" />
+      <link name="panda_link5" />
+      <link name="panda_link6" />
+      <link name="panda_link7" />
+      <link name="panda_link8" />
+      <link name="panda_hand" />
+      <joint name="panda_joint1" />
+      <joint name="panda_joint2" />
+      <joint name="panda_joint3" />
+      <joint name="panda_joint4" />
+      <joint name="panda_joint5" />
+      <joint name="panda_joint6" />
+      <joint name="panda_joint7" />
+      <joint name="panda_joint8" />
+      <joint name="panda_hand_joint" />
+      <chain base_link="panda_link0" tip_link="panda_hand" />
     </group>
     <group name="hand">
         <link name="panda_hand" />
@@ -59,15 +59,6 @@
         <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="home" 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="ready" group="panda_arm">
         <joint name="panda_joint1" value="0" />
         <joint name="panda_joint2" value="-0.785" />
@@ -77,15 +68,6 @@
         <joint name="panda_joint6" value="1.571" />
         <joint name="panda_joint7" value="0.785" />
     </group_state>
-    <group_state name="home" group="panda_arm_hand">
-        <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="ready" group="panda_arm_hand">
         <joint name="panda_joint1" value="0" />
         <joint name="panda_joint2" value="-0.785" />