From a27e498ca3afa317b8f972bedada817e6c91fd04 Mon Sep 17 00:00:00 2001 From: root Date: Fri, 13 Feb 2026 15:58:08 +0000 Subject: [PATCH 1/8] moveit configs for chiral (no arm) --- .../.setup_assistant | 11 + .../CMakeLists.txt | 10 + .../config/cartesian_limits.yaml | 5 + .../config/chomp_planning.yaml | 18 + .../config/copyright_exclusions.cfg | 1 + .../config/dexee_config_2_left_hand.srdf | 230 ++++++ .../config/fake_controllers.yaml | 57 ++ .../config/gazebo_controllers.yaml | 4 + .../gazebo_dexee_config_2_left_hand.urdf | 758 ++++++++++++++++++ .../config/joint_limits.yaml | 70 ++ .../config/kinematics.yaml | 21 + .../config/ompl_planning.yaml | 314 ++++++++ .../config/ros_controllers.yaml | 0 .../config/sensors_3d.yaml | 2 + .../config/simple_moveit_controllers.yaml | 2 + .../config/stomp_planning.yaml | 195 +++++ .../copyright_exclusions.cfg | 1 + .../launch/chomp_planning_pipeline.launch.xml | 21 + .../launch/copyright_exclusions.cfg | 1 + .../launch/default_warehouse_db.launch | 15 + .../launch/demo.launch | 66 ++ .../launch/demo_gazebo.launch | 21 + ...left_hand_moveit_sensor_manager.launch.xml | 3 + .../fake_moveit_controller_manager.launch.xml | 12 + .../launch/gazebo.launch | 34 + .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 105 +++ .../launch/moveit.rviz | 133 +++ .../launch/moveit_rviz.launch | 15 + .../ompl-chomp_planning_pipeline.launch.xml | 20 + .../launch/ompl_planning_pipeline.launch.xml | 24 + ...otion_planner_planning_pipeline.launch.xml | 15 + .../launch/planning_context.launch | 26 + .../launch/planning_pipeline.launch.xml | 10 + ...ntrol_moveit_controller_manager.launch.xml | 4 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 21 + .../launch/sensor_manager.launch.xml | 17 + .../launch/setup_assistant.launch | 16 + ...imple_moveit_controller_manager.launch.xml | 8 + .../launch/stomp_planning_pipeline.launch.xml | 23 + .../launch/trajectory_execution.launch.xml | 23 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 16 + .../package.xml | 40 + .../.setup_assistant | 11 + .../CMakeLists.txt | 10 + .../config/cartesian_limits.yaml | 5 + .../config/chomp_planning.yaml | 18 + .../config/copyright_exclusions.cfg | 1 + .../config/dexee_config_2_right_hand.srdf | 230 ++++++ .../config/fake_controllers.yaml | 57 ++ .../config/gazebo_controllers.yaml | 4 + .../gazebo_dexee_config_2_right_hand.urdf | 758 ++++++++++++++++++ .../config/joint_limits.yaml | 70 ++ .../config/kinematics.yaml | 21 + .../config/ompl_planning.yaml | 314 ++++++++ .../config/ros_controllers.yaml | 0 .../config/sensors_3d.yaml | 2 + .../config/simple_moveit_controllers.yaml | 2 + .../config/stomp_planning.yaml | 195 +++++ .../copyright_exclusions.cfg | 1 + .../launch/chomp_planning_pipeline.launch.xml | 21 + .../launch/copyright_exclusions.cfg | 1 + .../launch/default_warehouse_db.launch | 15 + .../launch/demo.launch | 66 ++ .../launch/demo_gazebo.launch | 21 + ...ight_hand_moveit_sensor_manager.launch.xml | 3 + .../fake_moveit_controller_manager.launch.xml | 12 + .../launch/gazebo.launch | 34 + .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 105 +++ .../launch/moveit.rviz | 133 +++ .../launch/moveit_rviz.launch | 15 + .../ompl-chomp_planning_pipeline.launch.xml | 20 + .../launch/ompl_planning_pipeline.launch.xml | 24 + ...otion_planner_planning_pipeline.launch.xml | 15 + .../launch/planning_context.launch | 26 + .../launch/planning_pipeline.launch.xml | 10 + ...ntrol_moveit_controller_manager.launch.xml | 4 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 21 + .../launch/sensor_manager.launch.xml | 17 + .../launch/setup_assistant.launch | 16 + ...imple_moveit_controller_manager.launch.xml | 8 + .../launch/stomp_planning_pipeline.launch.xml | 23 + .../launch/trajectory_execution.launch.xml | 23 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 16 + .../package.xml | 40 + 90 files changed, 4862 insertions(+) create mode 100644 dx_dexee_config_2_lh_moveit_config/.setup_assistant create mode 100644 dx_dexee_config_2_lh_moveit_config/CMakeLists.txt create mode 100644 dx_dexee_config_2_lh_moveit_config/config/cartesian_limits.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/chomp_planning.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf create mode 100644 dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/gazebo_controllers.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf create mode 100644 dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/ros_controllers.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/sensors_3d.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/simple_moveit_controllers.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml create mode 100644 dx_dexee_config_2_lh_moveit_config/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/demo.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/demo_gazebo.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/dexee_config_2_left_hand_moveit_sensor_manager.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/joystick_control.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/move_group.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/moveit.rviz create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/moveit_rviz.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/warehouse.launch create mode 100644 dx_dexee_config_2_lh_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 dx_dexee_config_2_lh_moveit_config/package.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/.setup_assistant create mode 100644 dx_dexee_config_2_rh_moveit_config/CMakeLists.txt create mode 100644 dx_dexee_config_2_rh_moveit_config/config/cartesian_limits.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/chomp_planning.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf create mode 100644 dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/gazebo_controllers.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf create mode 100644 dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/ros_controllers.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/sensors_3d.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/simple_moveit_controllers.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml create mode 100644 dx_dexee_config_2_rh_moveit_config/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/copyright_exclusions.cfg create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/demo.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/demo_gazebo.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/dexee_config_2_right_hand_moveit_sensor_manager.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/joystick_control.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/move_group.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/moveit.rviz create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/moveit_rviz.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/run_benchmark_ompl.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/trajectory_execution.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/warehouse.launch create mode 100644 dx_dexee_config_2_rh_moveit_config/launch/warehouse_settings.launch.xml create mode 100644 dx_dexee_config_2_rh_moveit_config/package.xml diff --git a/dx_dexee_config_2_lh_moveit_config/.setup_assistant b/dx_dexee_config_2_lh_moveit_config/.setup_assistant new file mode 100644 index 0000000..6c26eba --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: "" + relative_path: /home/user/dexee_0.urdf + xacro_args: "" + SRDF: + relative_path: config/dexee_config_2_left_hand.srdf + CONFIG: + author_name: Shadow Robot software team + author_email: software@shadowrobot.com + generated_timestamp: 1739276540 \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/CMakeLists.txt b/dx_dexee_config_2_lh_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..32089ab --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.1.3) +project(dx_dexee_config_2_lh_moveit_config) + +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/dx_dexee_config_2_lh_moveit_config/config/cartesian_limits.yaml b/dx_dexee_config_2_lh_moveit_config/config/cartesian_limits.yaml new file mode 100644 index 0000000..7df72f6 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/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/dx_dexee_config_2_lh_moveit_config/config/chomp_planning.yaml b/dx_dexee_config_2_lh_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..eb9c912 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/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/dx_dexee_config_2_lh_moveit_config/config/copyright_exclusions.cfg b/dx_dexee_config_2_lh_moveit_config/config/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf new file mode 100644 index 0000000..b16df37 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml b/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..96bcef8 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,57 @@ +controller_list: + - name: fake_f0_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - name: fake_f1_controller + type: $(arg fake_execution_type) + joints: + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - name: fake_f2_controller + type: $(arg fake_execution_type) + joints: + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 + - name: fake_dx_fingers_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 + - name: fake_hand_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 +initial: # Define initial robot poses per group +# - group: f0 +# pose: home + + [] \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/gazebo_controllers.yaml b/dx_dexee_config_2_lh_moveit_config/config/gazebo_controllers.yaml new file mode 100644 index 0000000..e4d2eb0 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/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/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf new file mode 100644 index 0000000..44a6aef --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf @@ -0,0 +1,758 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + hand_0 + robot_description + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml b/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..085a997 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml @@ -0,0 +1,70 @@ +# 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: + F0_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml b/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..3eadea9 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml @@ -0,0 +1,21 @@ +f0: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 +f1: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 +f2: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml b/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..fd576e9 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,314 @@ +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 + frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frontier_node_ratio: 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 + frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frontier_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 + AITstar: + type: geometric::AITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1 + ABITstar: + type: geometric::ABITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000 + inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + BITstar: + type: geometric::BITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 +f0: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +f1: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +f2: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +dx_fingers: + 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 + - AITstar + - ABITstar + - BITstar +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 + - AITstar + - ABITstar + - BITstar diff --git a/dx_dexee_config_2_lh_moveit_config/config/ros_controllers.yaml b/dx_dexee_config_2_lh_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..e69de29 diff --git a/dx_dexee_config_2_lh_moveit_config/config/sensors_3d.yaml b/dx_dexee_config_2_lh_moveit_config/config/sensors_3d.yaml new file mode 100644 index 0000000..51010a3 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,2 @@ +sensors: + [] \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/simple_moveit_controllers.yaml b/dx_dexee_config_2_lh_moveit_config/config/simple_moveit_controllers.yaml new file mode 100644 index 0000000..4118c3b --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/simple_moveit_controllers.yaml @@ -0,0 +1,2 @@ +controller_list: + [] \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml b/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml new file mode 100644 index 0000000..a67241b --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml @@ -0,0 +1,195 @@ +stomp/f0: + group_name: f0 + 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] + 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/f1: + group_name: f1 + 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] + 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/f2: + group_name: f2 + 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] + 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/dx_fingers: + group_name: dx_fingers + 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, 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, 0.05, 0.05, 0.05, 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 \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/copyright_exclusions.cfg b/dx_dexee_config_2_lh_moveit_config/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..12b54bd --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/copyright_exclusions.cfg b/dx_dexee_config_2_lh_moveit_config/launch/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..21500f3 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/demo.launch b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch new file mode 100644 index 0000000..5271a56 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/demo_gazebo.launch b/dx_dexee_config_2_lh_moveit_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..0ef8f95 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/dexee_config_2_left_hand_moveit_sensor_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/dexee_config_2_left_hand_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/dexee_config_2_left_hand_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..c268980 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch new file mode 100644 index 0000000..6c574b3 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/joystick_control.launch b/dx_dexee_config_2_lh_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/move_group.launch b/dx_dexee_config_2_lh_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..ecac870 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/move_group.launch @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/moveit.rviz b/dx_dexee_config_2_lh_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..10d3ed8 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/moveit.rviz @@ -0,0 +1,133 @@ +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: + Value: true + - Acceleration_Scaling_Factor: 1.0 + 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 + Velocity_Scaling_Factor: 1.0 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + 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: world + 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/dx_dexee_config_2_lh_moveit_config/launch/moveit_rviz.launch b/dx_dexee_config_2_lh_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..a4605c0 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..6d1fb24 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..417159e --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 0000000..c7c4cf5 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..f8e5a92 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..4b4d0d6 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..a2f1863 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..89683ba --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/run_benchmark_ompl.launch b/dx_dexee_config_2_lh_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..5502eab --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..9717451 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..1c489a9 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..22c8e3b --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..7dedd6d --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/trajectory_execution.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..20c3dfc --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/warehouse.launch b/dx_dexee_config_2_lh_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..0712e67 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/warehouse_settings.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_lh_moveit_config/package.xml b/dx_dexee_config_2_lh_moveit_config/package.xml new file mode 100644 index 0000000..765d624 --- /dev/null +++ b/dx_dexee_config_2_lh_moveit_config/package.xml @@ -0,0 +1,40 @@ + + + dx_dexee_config_2_lh_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the dexee_config_2_left_hand with the MoveIt Motion Planning Framework + + Shadow Robot software team + Shadow Robot software team + + BSD + + http://moveit.ros.org/ + https://github.com/moveit/moveit/issues + https://github.com/moveit/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + +] + + diff --git a/dx_dexee_config_2_rh_moveit_config/.setup_assistant b/dx_dexee_config_2_rh_moveit_config/.setup_assistant new file mode 100644 index 0000000..0b6d9be --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: "" + relative_path: /home/user/dexee_0.urdf + xacro_args: "" + SRDF: + relative_path: config/dexee_config_2_right_hand.srdf + CONFIG: + author_name: Shadow Robot software team + author_email: software@shadowrobot.com + generated_timestamp: 1739276540 \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/CMakeLists.txt b/dx_dexee_config_2_rh_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..2890adc --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.1.3) +project(dx_dexee_config_2_rh_moveit_config) + +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/dx_dexee_config_2_rh_moveit_config/config/cartesian_limits.yaml b/dx_dexee_config_2_rh_moveit_config/config/cartesian_limits.yaml new file mode 100644 index 0000000..7df72f6 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/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/dx_dexee_config_2_rh_moveit_config/config/chomp_planning.yaml b/dx_dexee_config_2_rh_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..eb9c912 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/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/dx_dexee_config_2_rh_moveit_config/config/copyright_exclusions.cfg b/dx_dexee_config_2_rh_moveit_config/config/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf new file mode 100644 index 0000000..b628992 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml b/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..96bcef8 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,57 @@ +controller_list: + - name: fake_f0_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - name: fake_f1_controller + type: $(arg fake_execution_type) + joints: + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - name: fake_f2_controller + type: $(arg fake_execution_type) + joints: + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 + - name: fake_dx_fingers_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 + - name: fake_hand_controller + type: $(arg fake_execution_type) + joints: + - F0_J0 + - F0_J1 + - F0_J2 + - F0_J3 + - F1_J0 + - F1_J1 + - F1_J2 + - F1_J3 + - F2_J0 + - F2_J1 + - F2_J2 + - F2_J3 +initial: # Define initial robot poses per group +# - group: f0 +# pose: home + + [] \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/gazebo_controllers.yaml b/dx_dexee_config_2_rh_moveit_config/config/gazebo_controllers.yaml new file mode 100644 index 0000000..e4d2eb0 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/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/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf new file mode 100644 index 0000000..7d2fecf --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf @@ -0,0 +1,758 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + UnusedTransmission + + hardware_interface/EffortJointInterface + + + + 1 + + + + + + hand_0 + robot_description + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml b/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..085a997 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml @@ -0,0 +1,70 @@ +# 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: + F0_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F0_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F1_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J0: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J1: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J2: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 + F2_J3: + has_velocity_limits: true + max_velocity: 3.1415 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml b/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..3eadea9 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml @@ -0,0 +1,21 @@ +f0: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 +f1: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 +f2: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml b/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..fd576e9 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,314 @@ +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 + frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frontier_node_ratio: 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 + frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frontier_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 + AITstar: + type: geometric::AITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1 + ABITstar: + type: geometric::ABITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000 + inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + BITstar: + type: geometric::BITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 +f0: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +f1: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +f2: + default_planner_config: BiTRRT + 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 + - AITstar + - ABITstar + - BITstar +dx_fingers: + 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 + - AITstar + - ABITstar + - BITstar +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 + - AITstar + - ABITstar + - BITstar diff --git a/dx_dexee_config_2_rh_moveit_config/config/ros_controllers.yaml b/dx_dexee_config_2_rh_moveit_config/config/ros_controllers.yaml new file mode 100644 index 0000000..e69de29 diff --git a/dx_dexee_config_2_rh_moveit_config/config/sensors_3d.yaml b/dx_dexee_config_2_rh_moveit_config/config/sensors_3d.yaml new file mode 100644 index 0000000..51010a3 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/sensors_3d.yaml @@ -0,0 +1,2 @@ +sensors: + [] \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/simple_moveit_controllers.yaml b/dx_dexee_config_2_rh_moveit_config/config/simple_moveit_controllers.yaml new file mode 100644 index 0000000..4118c3b --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/simple_moveit_controllers.yaml @@ -0,0 +1,2 @@ +controller_list: + [] \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml b/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml new file mode 100644 index 0000000..a67241b --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml @@ -0,0 +1,195 @@ +stomp/f0: + group_name: f0 + 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] + 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/f1: + group_name: f1 + 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] + 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/f2: + group_name: f2 + 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] + 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/dx_fingers: + group_name: dx_fingers + 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, 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, 0.05, 0.05, 0.05, 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 \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/copyright_exclusions.cfg b/dx_dexee_config_2_rh_moveit_config/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..00a6f64 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/copyright_exclusions.cfg b/dx_dexee_config_2_rh_moveit_config/launch/copyright_exclusions.cfg new file mode 100644 index 0000000..755f92a --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/copyright_exclusions.cfg @@ -0,0 +1 @@ +exclude_files=/*. diff --git a/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..9f7b093 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/demo.launch b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch new file mode 100644 index 0000000..2d0ced5 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/demo_gazebo.launch b/dx_dexee_config_2_rh_moveit_config/launch/demo_gazebo.launch new file mode 100644 index 0000000..0ef8f95 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/dexee_config_2_right_hand_moveit_sensor_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/dexee_config_2_right_hand_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/dexee_config_2_right_hand_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..79223dd --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch new file mode 100644 index 0000000..e41db84 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/joystick_control.launch b/dx_dexee_config_2_rh_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/move_group.launch b/dx_dexee_config_2_rh_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..8ee7e48 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/move_group.launch @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/moveit.rviz b/dx_dexee_config_2_rh_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..10d3ed8 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/moveit.rviz @@ -0,0 +1,133 @@ +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: + Value: true + - Acceleration_Scaling_Factor: 1.0 + 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 + Velocity_Scaling_Factor: 1.0 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + 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: world + 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/dx_dexee_config_2_rh_moveit_config/launch/moveit_rviz.launch b/dx_dexee_config_2_rh_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..a4605c0 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..3cdf3b6 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..b4c45d6 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 0000000..c7c4cf5 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..ad5f805 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..4b4d0d6 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..a2f1863 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch new file mode 100644 index 0000000..a9bbb3d --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/run_benchmark_ompl.launch b/dx_dexee_config_2_rh_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..c265c90 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..090c33c --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..f64792c --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..45caec8 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..9386ffc --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/trajectory_execution.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..20c3dfc --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/warehouse.launch b/dx_dexee_config_2_rh_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..0712e67 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/warehouse_settings.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/package.xml b/dx_dexee_config_2_rh_moveit_config/package.xml new file mode 100644 index 0000000..287225e --- /dev/null +++ b/dx_dexee_config_2_rh_moveit_config/package.xml @@ -0,0 +1,40 @@ + + + dx_dexee_config_2_rh_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the dexee_config_2_right_hand with the MoveIt Motion Planning Framework + + Shadow Robot software team + Shadow Robot software team + + BSD + + http://moveit.ros.org/ + https://github.com/moveit/moveit/issues + https://github.com/moveit/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + +] + + From 8b56b8a11042c6b0f2197eff4a07df1d82229d10 Mon Sep 17 00:00:00 2001 From: root Date: Fri, 13 Feb 2026 16:00:35 +0000 Subject: [PATCH 2/8] update config --- dx_dexee_config_2_lh_moveit_config/.setup_assistant | 2 +- dx_dexee_config_2_rh_moveit_config/.setup_assistant | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/dx_dexee_config_2_lh_moveit_config/.setup_assistant b/dx_dexee_config_2_lh_moveit_config/.setup_assistant index 6c26eba..f57e111 100644 --- a/dx_dexee_config_2_lh_moveit_config/.setup_assistant +++ b/dx_dexee_config_2_lh_moveit_config/.setup_assistant @@ -1,7 +1,7 @@ moveit_setup_assistant_config: URDF: package: "" - relative_path: /home/user/dexee_0.urdf + relative_path: /home/user/dexee_config_2_left_hand.urdf xacro_args: "" SRDF: relative_path: config/dexee_config_2_left_hand.srdf diff --git a/dx_dexee_config_2_rh_moveit_config/.setup_assistant b/dx_dexee_config_2_rh_moveit_config/.setup_assistant index 0b6d9be..1395bac 100644 --- a/dx_dexee_config_2_rh_moveit_config/.setup_assistant +++ b/dx_dexee_config_2_rh_moveit_config/.setup_assistant @@ -1,7 +1,7 @@ moveit_setup_assistant_config: URDF: package: "" - relative_path: /home/user/dexee_0.urdf + relative_path: /home/user/dexee_config_2_right_hand.urdf xacro_args: "" SRDF: relative_path: config/dexee_config_2_right_hand.srdf From 6a3cce1e8b55541e0f9e28e111aaa6adab0ff353 Mon Sep 17 00:00:00 2001 From: Chris Date: Mon, 16 Feb 2026 11:02:49 +0000 Subject: [PATCH 3/8] fixed mesh paths and bimanual xacro and launch file --- .../robot/robot_system_0/0x02000107.yaml | 111 +++++++++++++++++ .../robot/robot_system_1/0x02000109.yaml | 112 ++++++++++++++++++ .../config/gazebo_e3_r3_hand.urdf | 4 +- .../config/gazebo_ur_dex.urdf | 4 +- .../gazebo_dexee_config_2_left_hand.urdf | 4 +- .../gazebo_dexee_config_2_right_hand.urdf | 4 +- .../description/bimanual_dexee_ur.urdf.xacro | 19 ++- dx_launch/launch/start_bimanual.launch | 27 ++++- 8 files changed, 268 insertions(+), 17 deletions(-) create mode 100644 dx_config/robot/robot_system_0/0x02000107.yaml create mode 100644 dx_config/robot/robot_system_1/0x02000109.yaml diff --git a/dx_config/robot/robot_system_0/0x02000107.yaml b/dx_config/robot/robot_system_0/0x02000107.yaml new file mode 100644 index 0000000..8dd6559 --- /dev/null +++ b/dx_config/robot/robot_system_0/0x02000107.yaml @@ -0,0 +1,111 @@ +# Software License Agreement (BSD License) +# Copyright © 2026 belongs to Shadow Robot Company Ltd. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without modification, +# are permitted provided that the following conditions are met: +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# 3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors +# may be used to endorse or promote products derived from this software without +# specific prior written permission. +# +# This software is provided by Shadow Robot Company Ltd "as is" and any express +# or implied warranties, including, but not limited to, the implied warranties of +# merchantability and fitness for a particular purpose are disclaimed. In no event +# shall the copyright holder be liable for any direct, indirect, incidental, special, +# exemplary, or consequential damages (including, but not limited to, procurement of +# substitute goods or services; loss of use, data, or profits; or business interruption) +# however caused and on any theory of liability, whether in contract, strict liability, +# or tort (including negligence or otherwise) arising in any way out of the use of this +# software, even if advised of the possibility of such damage. + +robot_hardware: + - ethercat_robot_hw + +ethercat_robot_hw: + type: dx_robot/DxFOERobot + robot_descriptions_ns: robot_descriptions + fingers_per_hand: 3 + +dx_finger/h0_F0: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + +dx_finger/h0_F1: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + +dx_finger/h0_F2: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + + +fan_subdevices: + required: + - h0_F0_A0 + - h0_F0_A1 + - h0_F0_A2 + - h0_F0_A3 + - h0_F0_A4 + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - h0_F1_A0 + - h0_F1_A1 + - h0_F1_A2 + - h0_F1_A3 + - h0_F1_A4 + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - h0_F2_A0 + - h0_F2_A1 + - h0_F2_A2 + - h0_F2_A3 + - h0_F2_A4 + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 diff --git a/dx_config/robot/robot_system_1/0x02000109.yaml b/dx_config/robot/robot_system_1/0x02000109.yaml new file mode 100644 index 0000000..7d38366 --- /dev/null +++ b/dx_config/robot/robot_system_1/0x02000109.yaml @@ -0,0 +1,112 @@ +# Software License Agreement (BSD License) +# Copyright © 2026 belongs to Shadow Robot Company Ltd. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without modification, +# are permitted provided that the following conditions are met: +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# 3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors +# may be used to endorse or promote products derived from this software without +# specific prior written permission. +# +# This software is provided by Shadow Robot Company Ltd "as is" and any express +# or implied warranties, including, but not limited to, the implied warranties of +# merchantability and fitness for a particular purpose are disclaimed. In no event +# shall the copyright holder be liable for any direct, indirect, incidental, special, +# exemplary, or consequential damages (including, but not limited to, procurement of +# substitute goods or services; loss of use, data, or profits; or business interruption) +# however caused and on any theory of liability, whether in contract, strict liability, +# or tort (including negligence or otherwise) arising in any way out of the use of this +# software, even if advised of the possibility of such damage. + +robot_hardware: + - ethercat_robot_hw + +ethercat_robot_hw: + type: dx_robot/DxFOERobot + robot_descriptions_ns: robot_descriptions + fingers_per_hand: 3 + +dx_finger/h1_F0: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + +dx_finger/h1_F1: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + +dx_finger/h1_F2: + dof_per_finger: 5 + joints_per_finger: 4 + pulley_radius_by_tendon: + - [ -0.0154, 0.0174, 0.0000, 0.0000] # T0 + - [ 0.0194, 0.0144, 0.0000, 0.0000] # T1 + - [ -0.0084, -0.0144, -0.0124, 0.0000] # T2 + - [ 0.0084, -0.0104, 0.0084, -0.0074] # T3 + - [ -0.0074, 0.0074, 0.0104, 0.0104] # T4 + + joint_effort_limits: [1.5, 1.2, 0.7, .3] + min_tendon_load: 2.0 + max_tendon_load: 40.0 + phalanx_lengths: [0.03, 0.05, 0.035, 0.035] + magnetic_tactile_sensors: [MTPROX, MTMID] + + +fan_subdevices: + required: + - h1_F0_A0 + - h1_F0_A1 + - h1_F0_A2 + - h1_F0_A3 + - h1_F0_A4 + - h1_F0_J0 + - h1_F0_J1 + - h1_F0_J2 + - h1_F0_J3 + - h1_F1_A0 + - h1_F1_A1 + - h1_F1_A2 + - h1_F1_A3 + - h1_F1_A4 + - h1_F1_J0 + - h1_F1_J1 + - h1_F1_J2 + - h1_F1_J3 + - h1_F2_A0 + - h1_F2_A1 + - h1_F2_A2 + - h1_F2_A3 + - h1_F2_A4 + - h1_F2_J0 + - h1_F2_J1 + - h1_F2_J2 + - h1_F2_J3 + diff --git a/dx_dexee_0_moveit_config/config/gazebo_e3_r3_hand.urdf b/dx_dexee_0_moveit_config/config/gazebo_e3_r3_hand.urdf index de61093..b4b6e78 100644 --- a/dx_dexee_0_moveit_config/config/gazebo_e3_r3_hand.urdf +++ b/dx_dexee_0_moveit_config/config/gazebo_e3_r3_hand.urdf @@ -22,7 +22,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/dx_dexee_0_ur_moveit_config/config/gazebo_ur_dex.urdf b/dx_dexee_0_ur_moveit_config/config/gazebo_ur_dex.urdf index 9ded944..af364a3 100644 --- a/dx_dexee_0_ur_moveit_config/config/gazebo_ur_dex.urdf +++ b/dx_dexee_0_ur_moveit_config/config/gazebo_ur_dex.urdf @@ -376,7 +376,7 @@ - + @@ -385,7 +385,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf index 44a6aef..0eb6e6d 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf +++ b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf @@ -22,7 +22,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf index 7d2fecf..181eec7 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf +++ b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf @@ -22,7 +22,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/dx_launch/description/bimanual_dexee_ur.urdf.xacro b/dx_launch/description/bimanual_dexee_ur.urdf.xacro index 54847bf..59bbcf2 100644 --- a/dx_launch/description/bimanual_dexee_ur.urdf.xacro +++ b/dx_launch/description/bimanual_dexee_ur.urdf.xacro @@ -56,7 +56,10 @@ - + + + + @@ -73,7 +76,12 @@ - + + + + + + @@ -110,7 +118,12 @@ - + + + + + + diff --git a/dx_launch/launch/start_bimanual.launch b/dx_launch/launch/start_bimanual.launch index 3e021cf..e7de0e4 100644 --- a/dx_launch/launch/start_bimanual.launch +++ b/dx_launch/launch/start_bimanual.launch @@ -63,9 +63,12 @@ - + + + + + - @@ -116,8 +119,14 @@ mounting_plate_name:=$(arg mounting_plate_name)"/> - - + + + + + + + + @@ -136,8 +145,14 @@ initial_z:=$(arg initial_z) initial_y:=$(arg initial_y_1) initial_yaw:=$(arg initial_yaw)"/> - - + + + + + + + + From 24fd3631a533480fe0dfd36a2497a9327165b73a Mon Sep 17 00:00:00 2001 From: Chris Date: Mon, 16 Feb 2026 15:15:32 +0000 Subject: [PATCH 4/8] fixed mounting plate orientation and initial joint angles --- dx_launch/description/bimanual_dexee_ur.urdf.xacro | 4 ++-- dx_launch/launch/start_bimanual.launch | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/dx_launch/description/bimanual_dexee_ur.urdf.xacro b/dx_launch/description/bimanual_dexee_ur.urdf.xacro index 59bbcf2..be8828c 100644 --- a/dx_launch/description/bimanual_dexee_ur.urdf.xacro +++ b/dx_launch/description/bimanual_dexee_ur.urdf.xacro @@ -91,7 +91,7 @@ - + @@ -132,7 +132,7 @@ - + diff --git a/dx_launch/launch/start_bimanual.launch b/dx_launch/launch/start_bimanual.launch index e7de0e4..049697b 100644 --- a/dx_launch/launch/start_bimanual.launch +++ b/dx_launch/launch/start_bimanual.launch @@ -86,8 +86,8 @@ - - + + From 6095ecd1176782a929079d748b1ee0318f97ab14 Mon Sep 17 00:00:00 2001 From: Chris Date: Tue, 17 Feb 2026 10:27:39 +0000 Subject: [PATCH 5/8] fixed mounting plate ambiguity --- dx_launch/description/bimanual_dexee_ur.urdf.xacro | 9 +++++++-- dx_launch/launch/start_bimanual.launch | 6 ++++-- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/dx_launch/description/bimanual_dexee_ur.urdf.xacro b/dx_launch/description/bimanual_dexee_ur.urdf.xacro index be8828c..2045e4e 100644 --- a/dx_launch/description/bimanual_dexee_ur.urdf.xacro +++ b/dx_launch/description/bimanual_dexee_ur.urdf.xacro @@ -60,6 +60,9 @@ + + + @@ -78,9 +81,11 @@ + + @@ -91,7 +96,7 @@ - + @@ -132,7 +137,7 @@ - + diff --git a/dx_launch/launch/start_bimanual.launch b/dx_launch/launch/start_bimanual.launch index 049697b..e5611a7 100644 --- a/dx_launch/launch/start_bimanual.launch +++ b/dx_launch/launch/start_bimanual.launch @@ -86,8 +86,10 @@ - - + + + + From d861b2dbf6ef2814a1c55c18a96335b4070a5d36 Mon Sep 17 00:00:00 2001 From: Chris Date: Tue, 17 Feb 2026 10:42:58 +0000 Subject: [PATCH 6/8] namespacing the srdfs --- .../config/dexee_config_2_left_hand.srdf | 406 +++++++++--------- .../config/dexee_config_2_right_hand.srdf | 406 +++++++++--------- 2 files changed, 406 insertions(+), 406 deletions(-) diff --git a/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf index b16df37..3c47f62 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf +++ b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf @@ -9,222 +9,222 @@ - + - + - + - - - - + + + + - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf index b628992..474b9d2 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf +++ b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf @@ -9,222 +9,222 @@ - + - + - + - - - - + + + + - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - - - - - - - - - - - + + + + + + + + + + + + + - - - + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 33a62e7166c9a2fc80a2cddb3337e234c181106a Mon Sep 17 00:00:00 2001 From: Chris Date: Tue, 17 Feb 2026 11:23:07 +0000 Subject: [PATCH 7/8] namespaced everything --- .../.setup_assistant | 2 +- .../config/dexee_config_2_left_hand.srdf | 6 +- .../config/fake_controllers.yaml | 84 ++--- .../gazebo_dexee_config_2_left_hand.urdf | 304 +++++++++--------- .../config/joint_limits.yaml | 24 +- .../config/kinematics.yaml | 6 +- .../config/ompl_planning.yaml | 10 +- .../config/stomp_planning.yaml | 20 +- .../launch/chomp_planning_pipeline.launch.xml | 2 +- .../launch/default_warehouse_db.launch | 2 +- .../launch/demo.launch | 2 +- .../fake_moveit_controller_manager.launch.xml | 2 +- .../launch/gazebo.launch | 4 +- .../ompl-chomp_planning_pipeline.launch.xml | 4 +- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 8 +- .../launch/ros_controllers.launch | 2 +- .../launch/run_benchmark_ompl.launch | 2 +- .../launch/sensor_manager.launch.xml | 2 +- .../launch/setup_assistant.launch | 2 +- ...imple_moveit_controller_manager.launch.xml | 4 +- .../launch/stomp_planning_pipeline.launch.xml | 2 +- .../.setup_assistant | 2 +- .../config/dexee_config_2_right_hand.srdf | 6 +- .../config/fake_controllers.yaml | 84 ++--- .../gazebo_dexee_config_2_right_hand.urdf | 304 +++++++++--------- .../config/joint_limits.yaml | 24 +- .../config/kinematics.yaml | 6 +- .../config/ompl_planning.yaml | 10 +- .../config/stomp_planning.yaml | 20 +- .../launch/chomp_planning_pipeline.launch.xml | 2 +- .../launch/default_warehouse_db.launch | 2 +- .../launch/demo.launch | 2 +- .../fake_moveit_controller_manager.launch.xml | 2 +- .../launch/gazebo.launch | 4 +- .../ompl-chomp_planning_pipeline.launch.xml | 4 +- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 8 +- .../launch/ros_controllers.launch | 2 +- .../launch/run_benchmark_ompl.launch | 2 +- .../launch/sensor_manager.launch.xml | 2 +- .../launch/setup_assistant.launch | 2 +- ...imple_moveit_controller_manager.launch.xml | 4 +- .../launch/stomp_planning_pipeline.launch.xml | 2 +- 44 files changed, 496 insertions(+), 496 deletions(-) diff --git a/dx_dexee_config_2_lh_moveit_config/.setup_assistant b/dx_dexee_config_2_lh_moveit_config/.setup_assistant index f57e111..6c26eba 100644 --- a/dx_dexee_config_2_lh_moveit_config/.setup_assistant +++ b/dx_dexee_config_2_lh_moveit_config/.setup_assistant @@ -1,7 +1,7 @@ moveit_setup_assistant_config: URDF: package: "" - relative_path: /home/user/dexee_config_2_left_hand.urdf + relative_path: /home/user/dexee_0.urdf xacro_args: "" SRDF: relative_path: config/dexee_config_2_left_hand.srdf diff --git a/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf index 3c47f62..d506674 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf +++ b/dx_dexee_config_2_lh_moveit_config/config/dexee_config_2_left_hand.srdf @@ -10,13 +10,13 @@ - + - + - + diff --git a/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml b/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml index 96bcef8..f185c27 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml +++ b/dx_dexee_config_2_lh_moveit_config/config/fake_controllers.yaml @@ -1,57 +1,57 @@ controller_list: - - name: fake_f0_controller + - name: fake_h0_f0_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - name: fake_f1_controller + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - name: fake_h0_f1_controller type: $(arg fake_execution_type) joints: - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - name: fake_f2_controller + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - name: fake_h0_f2_controller type: $(arg fake_execution_type) joints: - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 - - name: fake_dx_fingers_controller + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 + - name: fake_h0_dx_fingers_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 - - name: fake_hand_controller + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 + - name: fake_h0_hand_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 initial: # Define initial robot poses per group -# - group: f0 +# - group: h0_f0 # pose: home [] \ No newline at end of file diff --git a/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf index 0eb6e6d..1eef4d6 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf +++ b/dx_dexee_config_2_lh_moveit_config/config/gazebo_dexee_config_2_left_hand.urdf @@ -9,11 +9,11 @@ --> - + - + - + @@ -36,18 +36,18 @@ - - - - + + + + - + - - + + - + @@ -69,7 +69,7 @@ - + @@ -91,15 +91,15 @@ - + - - + + - + @@ -121,15 +121,15 @@ - + - - + + - + @@ -151,15 +151,15 @@ - + - - + + - + @@ -181,68 +181,68 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + - - + + - + @@ -264,7 +264,7 @@ - + @@ -286,15 +286,15 @@ - + - - + + - + @@ -316,15 +316,15 @@ - + - - + + - + @@ -346,15 +346,15 @@ - + - - + + - + @@ -376,68 +376,68 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + - - + + - + @@ -459,7 +459,7 @@ - + @@ -481,15 +481,15 @@ - + - - + + - + @@ -511,15 +511,15 @@ - + - - + + - + @@ -541,15 +541,15 @@ - + - - + + - + @@ -571,58 +571,58 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 @@ -631,125 +631,125 @@ hand_0 - robot_description + h0_robot_description - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 diff --git a/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml b/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml index 085a997..b2447c1 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml +++ b/dx_dexee_config_2_lh_moveit_config/config/joint_limits.yaml @@ -8,62 +8,62 @@ 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: - F0_J0: + h0_F0_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J1: + h0_F0_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J2: + h0_F0_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J3: + h0_F0_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J0: + h0_F1_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J1: + h0_F1_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J2: + h0_F1_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J3: + h0_F1_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J0: + h0_F2_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J1: + h0_F2_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J2: + h0_F2_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J3: + h0_F2_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false diff --git a/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml b/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml index 3eadea9..d8a5fb1 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml +++ b/dx_dexee_config_2_lh_moveit_config/config/kinematics.yaml @@ -1,18 +1,18 @@ -f0: +h0_f0: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 goal_joint_tolerance: 0.0001 goal_position_tolerance: 0.0001 goal_orientation_tolerance: 0.001 -f1: +h0_f1: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 goal_joint_tolerance: 0.0001 goal_position_tolerance: 0.0001 goal_orientation_tolerance: 0.001 -f2: +h0_f2: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 diff --git a/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml b/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml index fd576e9..a8f0634 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml +++ b/dx_dexee_config_2_lh_moveit_config/config/ompl_planning.yaml @@ -164,7 +164,7 @@ planner_configs: stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 -f0: +h0_f0: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -194,7 +194,7 @@ f0: - AITstar - ABITstar - BITstar -f1: +h0_f1: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -224,7 +224,7 @@ f1: - AITstar - ABITstar - BITstar -f2: +h0_f2: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -254,7 +254,7 @@ f2: - AITstar - ABITstar - BITstar -dx_fingers: +h0_dx_fingers: planner_configs: - AnytimePathShortening - SBL @@ -283,7 +283,7 @@ dx_fingers: - AITstar - ABITstar - BITstar -hand: +h0_hand: planner_configs: - AnytimePathShortening - SBL diff --git a/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml b/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml index a67241b..3c3b68c 100644 --- a/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml +++ b/dx_dexee_config_2_lh_moveit_config/config/stomp_planning.yaml @@ -1,5 +1,5 @@ -stomp/f0: - group_name: f0 +stomp/h0_f0: + group_name: h0_f0 optimization: num_timesteps: 60 num_iterations: 40 @@ -37,8 +37,8 @@ stomp/f0: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/f1: - group_name: f1 +stomp/h0_f1: + group_name: h0_f1 optimization: num_timesteps: 60 num_iterations: 40 @@ -76,8 +76,8 @@ stomp/f1: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/f2: - group_name: f2 +stomp/h0_f2: + group_name: h0_f2 optimization: num_timesteps: 60 num_iterations: 40 @@ -115,8 +115,8 @@ stomp/f2: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/dx_fingers: - group_name: dx_fingers +stomp/h0_dx_fingers: + group_name: h0_dx_fingers optimization: num_timesteps: 60 num_iterations: 40 @@ -154,8 +154,8 @@ stomp/dx_fingers: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/hand: - group_name: hand +stomp/h0_hand: + group_name: h0_hand optimization: num_timesteps: 60 num_iterations: 40 diff --git a/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml index 12b54bd..f05351e 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -17,5 +17,5 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch index 21500f3..9a81fe6 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch @@ -2,7 +2,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/demo.launch b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch index 5271a56..24ab770 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/demo.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch @@ -6,7 +6,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml index c268980..fa2993d 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -7,6 +7,6 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch index 6c574b3..6a75d5f 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch @@ -13,7 +13,7 @@ - + @@ -23,7 +23,7 @@ respawn="false" output="screen" /> - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml index 6d1fb24..2b350c4 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -1,6 +1,6 @@ - + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml index 417159e..ab40f67 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -19,6 +19,6 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch index f8e5a92..4f411c9 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch @@ -9,17 +9,17 @@ - + - - + + - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch index 89683ba..b29bc0b 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch @@ -2,7 +2,7 @@ - + - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml index 9717451..ef3a2fd 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch index 1c489a9..89e3c86 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch @@ -8,7 +8,7 @@ diff --git a/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml index 22c8e3b..65d6162 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -3,6 +3,6 @@ - - + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml index 7dedd6d..9781aaf 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -19,5 +19,5 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/.setup_assistant b/dx_dexee_config_2_rh_moveit_config/.setup_assistant index 1395bac..0b6d9be 100644 --- a/dx_dexee_config_2_rh_moveit_config/.setup_assistant +++ b/dx_dexee_config_2_rh_moveit_config/.setup_assistant @@ -1,7 +1,7 @@ moveit_setup_assistant_config: URDF: package: "" - relative_path: /home/user/dexee_config_2_right_hand.urdf + relative_path: /home/user/dexee_0.urdf xacro_args: "" SRDF: relative_path: config/dexee_config_2_right_hand.srdf diff --git a/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf index 474b9d2..7d50156 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf +++ b/dx_dexee_config_2_rh_moveit_config/config/dexee_config_2_right_hand.srdf @@ -10,13 +10,13 @@ - + - + - + diff --git a/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml b/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml index 96bcef8..f185c27 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml +++ b/dx_dexee_config_2_rh_moveit_config/config/fake_controllers.yaml @@ -1,57 +1,57 @@ controller_list: - - name: fake_f0_controller + - name: fake_h0_f0_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - name: fake_f1_controller + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - name: fake_h0_f1_controller type: $(arg fake_execution_type) joints: - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - name: fake_f2_controller + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - name: fake_h0_f2_controller type: $(arg fake_execution_type) joints: - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 - - name: fake_dx_fingers_controller + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 + - name: fake_h0_dx_fingers_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 - - name: fake_hand_controller + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 + - name: fake_h0_hand_controller type: $(arg fake_execution_type) joints: - - F0_J0 - - F0_J1 - - F0_J2 - - F0_J3 - - F1_J0 - - F1_J1 - - F1_J2 - - F1_J3 - - F2_J0 - - F2_J1 - - F2_J2 - - F2_J3 + - h0_F0_J0 + - h0_F0_J1 + - h0_F0_J2 + - h0_F0_J3 + - h0_F1_J0 + - h0_F1_J1 + - h0_F1_J2 + - h0_F1_J3 + - h0_F2_J0 + - h0_F2_J1 + - h0_F2_J2 + - h0_F2_J3 initial: # Define initial robot poses per group -# - group: f0 +# - group: h0_f0 # pose: home [] \ No newline at end of file diff --git a/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf index 181eec7..6eb8a56 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf +++ b/dx_dexee_config_2_rh_moveit_config/config/gazebo_dexee_config_2_right_hand.urdf @@ -9,11 +9,11 @@ --> - + - + - + @@ -36,18 +36,18 @@ - - - - + + + + - + - - + + - + @@ -69,7 +69,7 @@ - + @@ -91,15 +91,15 @@ - + - - + + - + @@ -121,15 +121,15 @@ - + - - + + - + @@ -151,15 +151,15 @@ - + - - + + - + @@ -181,68 +181,68 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + - - + + - + @@ -264,7 +264,7 @@ - + @@ -286,15 +286,15 @@ - + - - + + - + @@ -316,15 +316,15 @@ - + - - + + - + @@ -346,15 +346,15 @@ - + - - + + - + @@ -376,68 +376,68 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + - - + + - + @@ -459,7 +459,7 @@ - + @@ -481,15 +481,15 @@ - + - - + + - + @@ -511,15 +511,15 @@ - + - - + + - + @@ -541,15 +541,15 @@ - + - - + + - + @@ -571,58 +571,58 @@ - + - - + + - - - - + + + + - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 - + UnusedTransmission - + hardware_interface/EffortJointInterface - + 1 @@ -631,125 +631,125 @@ hand_0 - robot_description + h0_robot_description - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 - + transmission_interface/SimpleTransmission - + hardware_interface/EffortJointInterface - + hardware_interface/EffortJointInterface 1 diff --git a/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml b/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml index 085a997..b2447c1 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml +++ b/dx_dexee_config_2_rh_moveit_config/config/joint_limits.yaml @@ -8,62 +8,62 @@ 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: - F0_J0: + h0_F0_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J1: + h0_F0_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J2: + h0_F0_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F0_J3: + h0_F0_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J0: + h0_F1_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J1: + h0_F1_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J2: + h0_F1_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F1_J3: + h0_F1_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J0: + h0_F2_J0: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J1: + h0_F2_J1: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J2: + h0_F2_J2: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false max_acceleration: 0 - F2_J3: + h0_F2_J3: has_velocity_limits: true max_velocity: 3.1415 has_acceleration_limits: false diff --git a/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml b/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml index 3eadea9..d8a5fb1 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml +++ b/dx_dexee_config_2_rh_moveit_config/config/kinematics.yaml @@ -1,18 +1,18 @@ -f0: +h0_f0: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 goal_joint_tolerance: 0.0001 goal_position_tolerance: 0.0001 goal_orientation_tolerance: 0.001 -f1: +h0_f1: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 goal_joint_tolerance: 0.0001 goal_position_tolerance: 0.0001 goal_orientation_tolerance: 0.001 -f2: +h0_f2: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 diff --git a/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml b/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml index fd576e9..a8f0634 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml +++ b/dx_dexee_config_2_rh_moveit_config/config/ompl_planning.yaml @@ -164,7 +164,7 @@ planner_configs: stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 -f0: +h0_f0: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -194,7 +194,7 @@ f0: - AITstar - ABITstar - BITstar -f1: +h0_f1: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -224,7 +224,7 @@ f1: - AITstar - ABITstar - BITstar -f2: +h0_f2: default_planner_config: BiTRRT planner_configs: - AnytimePathShortening @@ -254,7 +254,7 @@ f2: - AITstar - ABITstar - BITstar -dx_fingers: +h0_dx_fingers: planner_configs: - AnytimePathShortening - SBL @@ -283,7 +283,7 @@ dx_fingers: - AITstar - ABITstar - BITstar -hand: +h0_hand: planner_configs: - AnytimePathShortening - SBL diff --git a/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml b/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml index a67241b..3c3b68c 100644 --- a/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml +++ b/dx_dexee_config_2_rh_moveit_config/config/stomp_planning.yaml @@ -1,5 +1,5 @@ -stomp/f0: - group_name: f0 +stomp/h0_f0: + group_name: h0_f0 optimization: num_timesteps: 60 num_iterations: 40 @@ -37,8 +37,8 @@ stomp/f0: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/f1: - group_name: f1 +stomp/h0_f1: + group_name: h0_f1 optimization: num_timesteps: 60 num_iterations: 40 @@ -76,8 +76,8 @@ stomp/f1: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/f2: - group_name: f2 +stomp/h0_f2: + group_name: h0_f2 optimization: num_timesteps: 60 num_iterations: 40 @@ -115,8 +115,8 @@ stomp/f2: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/dx_fingers: - group_name: dx_fingers +stomp/h0_dx_fingers: + group_name: h0_dx_fingers optimization: num_timesteps: 60 num_iterations: 40 @@ -154,8 +154,8 @@ stomp/dx_fingers: publish_intermediate: True marker_topic: stomp_trajectory marker_namespace: optimized -stomp/hand: - group_name: hand +stomp/h0_hand: + group_name: h0_hand optimization: num_timesteps: 60 num_iterations: 40 diff --git a/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml index 00a6f64..f05351e 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -17,5 +17,5 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch index 9f7b093..9a81fe6 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch @@ -2,7 +2,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/demo.launch b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch index 2d0ced5..24ab770 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/demo.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch @@ -6,7 +6,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml index 79223dd..fa2993d 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -7,6 +7,6 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch index e41db84..a6df7b8 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch @@ -13,7 +13,7 @@ - + @@ -23,7 +23,7 @@ respawn="false" output="screen" /> - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml index 3cdf3b6..2b350c4 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -1,6 +1,6 @@ - + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml index b4c45d6..ab40f67 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -19,6 +19,6 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch index ad5f805..533e4bb 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch @@ -9,17 +9,17 @@ - + - - + + - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch index a9bbb3d..b29bc0b 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch @@ -2,7 +2,7 @@ - + - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml index 090c33c..f4b3e92 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch index f64792c..89e3c86 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch @@ -8,7 +8,7 @@ diff --git a/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml index 45caec8..65d6162 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -3,6 +3,6 @@ - - + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml index 9386ffc..9781aaf 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -19,5 +19,5 @@ - + From fbd27af083b5a433d5626e4fccfe2b8f44be756b Mon Sep 17 00:00:00 2001 From: Chris Date: Tue, 17 Feb 2026 16:24:48 +0000 Subject: [PATCH 8/8] correct package name --- .../launch/chomp_planning_pipeline.launch.xml | 2 +- .../launch/default_warehouse_db.launch | 2 +- dx_dexee_config_2_lh_moveit_config/launch/demo.launch | 2 +- .../launch/fake_moveit_controller_manager.launch.xml | 2 +- dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch | 4 ++-- .../launch/ompl-chomp_planning_pipeline.launch.xml | 4 ++-- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 8 ++++---- .../launch/ros_controllers.launch | 2 +- .../launch/run_benchmark_ompl.launch | 2 +- .../launch/sensor_manager.launch.xml | 2 +- .../launch/setup_assistant.launch | 2 +- .../launch/simple_moveit_controller_manager.launch.xml | 4 ++-- .../launch/stomp_planning_pipeline.launch.xml | 2 +- .../launch/chomp_planning_pipeline.launch.xml | 2 +- .../launch/default_warehouse_db.launch | 2 +- dx_dexee_config_2_rh_moveit_config/launch/demo.launch | 2 +- .../launch/fake_moveit_controller_manager.launch.xml | 2 +- dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch | 4 ++-- .../launch/ompl-chomp_planning_pipeline.launch.xml | 4 ++-- .../launch/ompl_planning_pipeline.launch.xml | 2 +- .../launch/planning_context.launch | 8 ++++---- .../launch/ros_controllers.launch | 2 +- .../launch/run_benchmark_ompl.launch | 2 +- .../launch/sensor_manager.launch.xml | 2 +- .../launch/setup_assistant.launch | 2 +- .../launch/simple_moveit_controller_manager.launch.xml | 4 ++-- .../launch/stomp_planning_pipeline.launch.xml | 2 +- 28 files changed, 40 insertions(+), 40 deletions(-) diff --git a/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml index f05351e..12b54bd 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -17,5 +17,5 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch index 9a81fe6..21500f3 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/default_warehouse_db.launch @@ -2,7 +2,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/demo.launch b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch index 24ab770..5271a56 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/demo.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/demo.launch @@ -6,7 +6,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml index fa2993d..c268980 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -7,6 +7,6 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch index 6a75d5f..6c574b3 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/gazebo.launch @@ -13,7 +13,7 @@ - + @@ -23,7 +23,7 @@ respawn="false" output="screen" /> - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml index 2b350c4..6d1fb24 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -1,6 +1,6 @@ - + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml index ab40f67..417159e 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -19,6 +19,6 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch index 4f411c9..f8e5a92 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/planning_context.launch @@ -9,17 +9,17 @@ - + - - + + - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch index b29bc0b..89683ba 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/ros_controllers.launch @@ -2,7 +2,7 @@ - + - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml index ef3a2fd..9717451 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/sensor_manager.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch index 89e3c86..1c489a9 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch +++ b/dx_dexee_config_2_lh_moveit_config/launch/setup_assistant.launch @@ -8,7 +8,7 @@ diff --git a/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml index 65d6162..22c8e3b 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -3,6 +3,6 @@ - - + + diff --git a/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml index 9781aaf..7dedd6d 100644 --- a/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_lh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -19,5 +19,5 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml index f05351e..00a6f64 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -17,5 +17,5 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch index 9a81fe6..9f7b093 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/default_warehouse_db.launch @@ -2,7 +2,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/demo.launch b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch index 24ab770..2d0ced5 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/demo.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/demo.launch @@ -6,7 +6,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml index fa2993d..79223dd 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -7,6 +7,6 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch index a6df7b8..e41db84 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/gazebo.launch @@ -13,7 +13,7 @@ - + @@ -23,7 +23,7 @@ respawn="false" output="screen" /> - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml index 2b350c4..3cdf3b6 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml @@ -1,6 +1,6 @@ - + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml index ab40f67..b4c45d6 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -19,6 +19,6 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch index 533e4bb..ad5f805 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/planning_context.launch @@ -9,17 +9,17 @@ - + - - + + - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch index b29bc0b..a9bbb3d 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/ros_controllers.launch @@ -2,7 +2,7 @@ - + - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml index f4b3e92..090c33c 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/sensor_manager.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch index 89e3c86..f64792c 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch +++ b/dx_dexee_config_2_rh_moveit_config/launch/setup_assistant.launch @@ -8,7 +8,7 @@ diff --git a/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml index 65d6162..45caec8 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/simple_moveit_controller_manager.launch.xml @@ -3,6 +3,6 @@ - - + + diff --git a/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml index 9781aaf..9386ffc 100644 --- a/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml +++ b/dx_dexee_config_2_rh_moveit_config/launch/stomp_planning_pipeline.launch.xml @@ -19,5 +19,5 @@ - +