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Merge remote-tracking branch 'origin/main' into constrained_move_demo
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adlarkin committed Aug 22, 2023
2 parents a8b9b3c + f144b34 commit 28be338
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Showing 4 changed files with 34 additions and 20 deletions.
19 changes: 7 additions & 12 deletions docker-compose.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ services:
- USERNAME=${USERNAME:-studio-user}
- MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}

# Starts the MoveIt Studio Agent
agent:
# Starts the MoveIt Studio Agent and the Bridge between the Agent and the Web UI
agent_bridge:
extends: base
privileged: true
# Allow the user to use the host's network video4linux and usb_device devices.
Expand All @@ -38,17 +38,12 @@ services:
- /tmp/.X11-unix:/tmp/.X11-unix:ro
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev
deploy:
restart_policy:
condition: any
delay: 2s
# TODO: replace this tee here and in common_aliases with some integrated logger
command: bash -c "ros2 launch moveit_studio_agent studio_agent.launch.py 2>&1 | tee -a ~/.ros/log/agent_0_0.log"

# Starts the Bridge between the Agent and the Web UI
bridge:
extends: base
depends_on:
agent:
condition: service_started
# TODO: replace this tee here and in common_aliases with some integrated logger
command: bash -c "ros2 launch moveit_studio_bridge studio_bridge.launch.py 2>&1 | tee -a ~/.ros/log/bridge_0_0.log"
command: bash -c "ros2 launch moveit_studio_agent studio_agent_bridge.launch.py 2>&1 | tee -a ~/.ros/log/agent_bridge_0_0.log"

# Starts the frontend-agent
frontend_agent:
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Original file line number Diff line number Diff line change
Expand Up @@ -56,9 +56,27 @@
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="pinch_link" link2="forearm_link" reason="Adjacent"/>
<disable_collisions link1="pinch_link" link2="upper_arm_link" reason="Never"/>
<disable_collisions link1="pinch_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="forearm_pinch_link" link2="forearm_link" reason="Adjacent"/>
<disable_collisions link1="forearm_pinch_link" link2="tool_changer_link" reason="Never"/>
<disable_collisions link1="forearm_pinch_link" link2="upper_arm_link" reason="Never"/>
<disable_collisions link1="forearm_pinch_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="forearm_pinch_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="realsense_camera_adapter_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="wrist_3_pinch_link" link2="tool_changer_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="ur_to_robotiq_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="wrist_3_pinch_link" link2="wrist_mounted_camera_link" reason="Never"/>
<disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="realsense_camera_adapter_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
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2 changes: 1 addition & 1 deletion src/picknik_ur_mock_hw_config/config/moveit/ur_servo.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -59,5 +59,5 @@ command_out_topic: /streaming_controller/commands # Publish outgoing commands h
## Collision checking for the entire robot body
check_collisions: true # Check collisions?
collision_check_rate: 20.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
self_collision_proximity_threshold: 0.015 # Start decelerating when a self-collision is this far [m]
self_collision_proximity_threshold: 0.006 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="external_camera" default="false" />
<xacro:arg name="has_tool_changer" default="true" />
<xacro:arg name="use_pinch_link" default="true" />
<xacro:arg name="use_pinch_links" default="true" />
<xacro:arg name="name" default="" />
<xacro:arg name="joint_limits_parameters_file" default="" />
<xacro:arg name="kinematics_parameters_file" default="" />
Expand All @@ -28,7 +28,7 @@
<xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" />
<xacro:include filename="$(find picknik_ur_base_config)/description/pinch_link.xacro" />
<xacro:include filename="$(find picknik_ur_base_config)/description/pinch_links.xacro" />

<!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
<xacro:arg name="initial_positions_file" default="$(find picknik_ur_mock_hw_config)/config/initial_positions.yaml"/>
Expand Down Expand Up @@ -60,8 +60,9 @@
</xacro:if>

<!-- pinch geometry for moveit motion planning. see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/611 -->
<xacro:if value="$(arg use_pinch_link)">
<xacro:pinch_link prefix="" />
<xacro:if value="$(arg use_pinch_links)">
<xacro:forearm_pinch_link />
<xacro:wrist_3_pinch_link />
</xacro:if>

<!-- wrist camera adapter and camera-->
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