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Changed ur types (#310)
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Signed-off-by: Paul Gesel <[email protected]>
Co-authored-by: Jeremy Bronson <[email protected]>
Co-authored-by: Paul Gesel <[email protected]>
Co-authored-by: Abishalini Sivaraman <[email protected]>
Co-authored-by: David Yackzan <[email protected]>
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@MikeWrock @jeremydbronson
@pac48 @Abishalini @dyackzan
5 people authored Aug 7, 2024
1 parent ca4d394 commit 33e76df
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Showing 47 changed files with 270 additions and 3,400 deletions.
29 changes: 1 addition & 28 deletions src/picknik_ur_multi_arm_config/config/config.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,6 @@
# Baseline hardware configuration parameters for MoveIt Pro.
# [Required]
hardware:
# Used by the ur_description package to set kinematics and geometry for a specific robot type.
# You can change this to another UR model but you must update any configuration affected by the different arm size.
# UR models in the ur_description package are ur3, ur3e, ur5, ur5e, ur10, ur10e, and ur16e.
# [Required]
type: ur5e

# Set simulated to false if you are using this as a configuration for real hardware.
# This allows users to switch between mock and real hardware by changing a single parameter with config inheritance.
Expand All @@ -26,19 +21,13 @@ hardware:
robot_driver_persist_launch_file:
package: "picknik_ur_base_config"
path: "launch/robot_drivers_to_persist.launch.py"
hardware_launch_file:
package: "moveit_studio_agent"
path: "launch/blank.launch.py"

# Specify any additional launch files for running the robot in simulation mode.
# Used when hardware.simulated is True.
# [Optional, defaults to a blank launch file if not specified]
simulated_robot_driver_persist_launch_file:
package: "picknik_ur_base_config"
path: "launch/sim/robot_drivers_to_persist_sim.launch.py"
simulated_hardware_launch_file:
package: "moveit_studio_agent"
path: "launch/blank.launch.py"

# Parameters used to configure the robot description through XACRO.
# A URDF and SRDF are both required.
Expand Down Expand Up @@ -79,10 +68,7 @@ hardware:
# Load visual_parameters.yaml from ur_description/config/<ur_type>
package: "ur_description"
path: "config/ur5e/visual_parameters.yaml"
# Set advanced camera settings to improve point cloud accuracy
json_file_path:
package: "picknik_ur_base_config"
path: "config/realsense_config_high_accuracy.json"


# Sets ROS global params for launch.
# [Optional]
Expand Down Expand Up @@ -138,13 +124,6 @@ moveit_params:
allowed_goal_duration_margin: 5.0
allowed_start_tolerance: 0.01

# Additional configurable parameters for the MoveIt Pro user interface.
# [Required]
ui_params:
# By default, MoveIt Pro uses a frame called "grasp_link" for tool grasp pose rendering
# and planning.
# [Required]
servo_endpoint_frame_id: "first_grasp_link"

# Configuration for launching ros2_control processes.
# [Required, if using ros2_control]
Expand Down Expand Up @@ -182,12 +161,6 @@ ros2_control:
# [Optional, default=[]]
controller_shared_topics: []

# Octomap manager configuration parameters
octomap_manager:
# Input point cloud topic name. The *output* point cloud topic published by
# the Octomap manager node is defined in sensors_3d.yaml.
input_point_cloud_topic: "/wrist_mounted_camera/depth/color/points"

# Configuration for loading behaviors and objectives.
# [Required]
objectives:
Expand Down
84 changes: 0 additions & 84 deletions src/picknik_ur_multi_arm_config/config/moveit/multi_arm_ur.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -182,27 +182,6 @@
<disable_collisions link1="first_forearm_link" link2="first_upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="first_forearm_link" link2="first_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="first_forearm_link" link2="first_wrist_2_link" reason="Never"/>
<disable_collisions link1="first_forearm_pinch_link" link2="first_forearm_link" reason="Adjacent"/>
<disable_collisions link1="first_forearm_pinch_link" link2="first_tool_changer_link" reason="Never"/>
<disable_collisions link1="first_forearm_pinch_link" link2="first_upper_arm_link" reason="Never"/>
<disable_collisions link1="first_forearm_pinch_link" link2="first_wrist_1_link" reason="Never"/>
<disable_collisions link1="first_forearm_pinch_link" link2="first_wrist_2_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_realsense_camera_adapter_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_tool_changer_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_ur_to_robotiq_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_mounted_camera_link" reason="Never"/>
<disable_collisions link1="first_realsense_camera_adapter_link" link2="first_robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="first_realsense_camera_adapter_link" link2="first_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="first_realsense_camera_adapter_link" link2="first_robotiq_85_left_finger_tip_link" reason="Never"/>
Expand Down Expand Up @@ -331,27 +310,6 @@
<disable_collisions link1="second_forearm_link" link2="second_upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="second_forearm_link" link2="second_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="second_forearm_link" link2="second_wrist_2_link" reason="Never"/>
<disable_collisions link1="second_forearm_pinch_link" link2="second_forearm_link" reason="Adjacent"/>
<disable_collisions link1="second_forearm_pinch_link" link2="second_tool_changer_link" reason="Never"/>
<disable_collisions link1="second_forearm_pinch_link" link2="second_upper_arm_link" reason="Never"/>
<disable_collisions link1="second_forearm_pinch_link" link2="second_wrist_1_link" reason="Never"/>
<disable_collisions link1="second_forearm_pinch_link" link2="second_wrist_2_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_realsense_camera_adapter_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_tool_changer_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_ur_to_robotiq_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="second_wrist_3_pinch_link" link2="second_wrist_mounted_camera_link" reason="Never"/>
<disable_collisions link1="second_realsense_camera_adapter_link" link2="second_robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="second_realsense_camera_adapter_link" link2="second_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="second_realsense_camera_adapter_link" link2="second_robotiq_85_left_finger_tip_link" reason="Never"/>
Expand Down Expand Up @@ -480,27 +438,6 @@
<disable_collisions link1="third_forearm_link" link2="third_upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="third_forearm_link" link2="third_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="third_forearm_link" link2="third_wrist_2_link" reason="Never"/>
<disable_collisions link1="third_forearm_pinch_link" link2="third_forearm_link" reason="Adjacent"/>
<disable_collisions link1="third_forearm_pinch_link" link2="third_tool_changer_link" reason="Never"/>
<disable_collisions link1="third_forearm_pinch_link" link2="third_upper_arm_link" reason="Never"/>
<disable_collisions link1="third_forearm_pinch_link" link2="third_wrist_1_link" reason="Never"/>
<disable_collisions link1="third_forearm_pinch_link" link2="third_wrist_2_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_realsense_camera_adapter_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_tool_changer_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_ur_to_robotiq_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="third_wrist_3_pinch_link" link2="third_wrist_mounted_camera_link" reason="Never"/>
<disable_collisions link1="third_realsense_camera_adapter_link" link2="third_robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="third_realsense_camera_adapter_link" link2="third_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="third_realsense_camera_adapter_link" link2="third_robotiq_85_left_finger_tip_link" reason="Never"/>
Expand Down Expand Up @@ -629,27 +566,6 @@
<disable_collisions link1="fourth_forearm_link" link2="fourth_upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="fourth_forearm_link" link2="fourth_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="fourth_forearm_link" link2="fourth_wrist_2_link" reason="Never"/>
<disable_collisions link1="fourth_forearm_pinch_link" link2="fourth_forearm_link" reason="Adjacent"/>
<disable_collisions link1="fourth_forearm_pinch_link" link2="fourth_tool_changer_link" reason="Never"/>
<disable_collisions link1="fourth_forearm_pinch_link" link2="fourth_upper_arm_link" reason="Never"/>
<disable_collisions link1="fourth_forearm_pinch_link" link2="fourth_wrist_1_link" reason="Never"/>
<disable_collisions link1="fourth_forearm_pinch_link" link2="fourth_wrist_2_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_realsense_camera_adapter_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_left_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_tool_changer_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_ur_to_robotiq_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="fourth_wrist_3_pinch_link" link2="fourth_wrist_mounted_camera_link" reason="Never"/>
<disable_collisions link1="fourth_realsense_camera_adapter_link" link2="fourth_robotiq_85_base_link" reason="Never"/>
<disable_collisions link1="fourth_realsense_camera_adapter_link" link2="fourth_robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="fourth_realsense_camera_adapter_link" link2="fourth_robotiq_85_left_finger_tip_link" reason="Never"/>
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