From 9dd3086fea7f90525c6ff021ff537e7e7cad4012 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Wed, 7 Mar 2018 16:37:39 +0100
Subject: [PATCH] MoveIt config: Fix fake execution, update joint limits
---
CHANGELOG.md | 4 ++
.../config/fake_controllers.yaml | 14 ++---
panda_moveit_config/config/joint_limits.yaml | 52 +++++++----------
panda_moveit_config/config/kinematics.yaml | 7 +--
panda_moveit_config/config/ompl_planning.yaml | 2 +-
.../config/panda_arm_hand.srdf | 58 +++++++------------
6 files changed, 51 insertions(+), 86 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3c7654d..12045cb 100644
--- a/CHANGELOG.md
+++ b/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
diff --git a/panda_moveit_config/config/fake_controllers.yaml b/panda_moveit_config/config/fake_controllers.yaml
index 34a8e37..619aa5d 100644
--- a/panda_moveit_config/config/fake_controllers.yaml
+++ b/panda_moveit_config/config/fake_controllers.yaml
@@ -1,14 +1,5 @@
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
diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
index 4323784..b254201 100644
--- a/panda_moveit_config/config/joint_limits.yaml
+++ b/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
diff --git a/panda_moveit_config/config/kinematics.yaml b/panda_moveit_config/config/kinematics.yaml
index c64ffe3..7ec1735 100644
--- a/panda_moveit_config/config/kinematics.yaml
+++ b/panda_moveit_config/config/kinematics.yaml
@@ -1,9 +1,4 @@
-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
diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
index 9251f54..17d4c5a 100644
--- a/panda_moveit_config/config/ompl_planning.yaml
+++ b/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
diff --git a/panda_moveit_config/config/panda_arm_hand.srdf b/panda_moveit_config/config/panda_arm_hand.srdf
index 56981c7..bfcde8d 100644
--- a/panda_moveit_config/config/panda_arm_hand.srdf
+++ b/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" />
--
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