diff --git a/Dockerfile b/Dockerfile index 73d55590..8006e4e0 100644 --- a/Dockerfile +++ b/Dockerfile @@ -119,10 +119,6 @@ ENV USER_WS=${USER_WS} # Compile the workspace WORKDIR $USER_WS -# hadolint ignore=SC1091 -RUN --mount=type=cache,target=/home/${USERNAME}/.ccache \ - . /opt/overlay_ws/install/setup.sh && \ - colcon build # Set up the user's .bashrc file and shell. CMD ["/usr/bin/bash"] diff --git a/docker-compose.yaml b/docker-compose.yaml index ce0be75c..2c94baf9 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -14,7 +14,7 @@ services: target: user-overlay args: - USER_UID=${STUDIO_USER_UID:-1000} - - USER_GID=${STUDIO_USER_UID:-1000} + - USER_GID=${STUDIO_USER_GID:-1000} - USERNAME=${STUDIO_USERNAME:-studio-user} - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main} diff --git a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml b/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml index 60ddbf2c..53b218df 100644 --- a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml +++ b/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml @@ -15,7 +15,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: 0.1 + max_acceleration: 10.0 max_effort: 150.0 max_position: 2.9 max_velocity: 0.175 @@ -25,7 +25,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 max_position: !degrees 180.0 max_velocity: !degrees 30.0 @@ -35,7 +35,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 max_position: !degrees 90.0 max_velocity: !degrees 30.0 @@ -45,7 +45,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical @@ -65,7 +65,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 28.0 max_position: !degrees 180.0 max_velocity: !degrees 60.0 diff --git a/src/arm_on_rail_sim/description/ur5e.xml b/src/arm_on_rail_sim/description/ur5e.xml index 4e6f28c3..5970e239 100644 --- a/src/arm_on_rail_sim/description/ur5e.xml +++ b/src/arm_on_rail_sim/description/ur5e.xml @@ -11,8 +11,8 @@ gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" - gainprm="2000" - biasprm="0 -2000 -400" + gainprm="20000" + biasprm="0 -20000 -1000" forcerange="-150 150" /> @@ -22,7 +22,11 @@ - + diff --git a/src/external_dependencies/picknik_accessories b/src/external_dependencies/picknik_accessories index fcdb1ff8..c8f11ba1 160000 --- a/src/external_dependencies/picknik_accessories +++ b/src/external_dependencies/picknik_accessories @@ -1 +1 @@ -Subproject commit fcdb1ff8b729c93dbd5f15a09c33098b32caeac5 +Subproject commit c8f11ba132ff65ea41c1fe1f2623e0ed56fa16dd diff --git a/src/external_dependencies/picknik_registration b/src/external_dependencies/picknik_registration index 5ce93428..220e5c96 160000 --- a/src/external_dependencies/picknik_registration +++ b/src/external_dependencies/picknik_registration @@ -1 +1 @@ -Subproject commit 5ce934289fddcdf84a13fc6b569d10c50a7f5da1 +Subproject commit 220e5c96aac04bf4879b4106f16238fee2a46825 diff --git a/src/external_dependencies/ros2_robotiq_gripper b/src/external_dependencies/ros2_robotiq_gripper index 93ecde7f..2ff85455 160000 --- a/src/external_dependencies/ros2_robotiq_gripper +++ b/src/external_dependencies/ros2_robotiq_gripper @@ -1 +1 @@ -Subproject commit 93ecde7f66499d56e620d775eb984345889532aa +Subproject commit 2ff85455d4b9f973c4b0bab1ce95fb09367f0d26 diff --git a/src/picknik_ur_base_config/launch/pro_rs_launch.py b/src/picknik_ur_base_config/launch/pro_rs_launch.py index 685f5bde..7aaec2b2 100644 --- a/src/picknik_ur_base_config/launch/pro_rs_launch.py +++ b/src/picknik_ur_base_config/launch/pro_rs_launch.py @@ -56,5 +56,14 @@ def generate_launch_description(): ) return LaunchDescription( rs_launch.declare_configurable_parameters(rs_launch.configurable_parameters) - + [OpaqueFunction(function=rs_launch.launch_setup)] + + [ + OpaqueFunction( + function=rs_launch.launch_setup, + kwargs={ + "params": rs_launch.set_configurable_parameters( + rs_launch.configurable_parameters + ) + }, + ) + ] ) diff --git a/src/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/picknik_ur_base_config/objectives/request_teleoperation.xml index b34b6226..33c019f1 100644 --- a/src/picknik_ur_base_config/objectives/request_teleoperation.xml +++ b/src/picknik_ur_base_config/objectives/request_teleoperation.xml @@ -159,4 +159,11 @@ + + + + + + + diff --git a/src/picknik_ur_site_config/config/config.yaml b/src/picknik_ur_site_config/config/config.yaml index 575b8836..b722faeb 100644 --- a/src/picknik_ur_site_config/config/config.yaml +++ b/src/picknik_ur_site_config/config/config.yaml @@ -32,8 +32,6 @@ ros2_control: # [Optional, default=[]] controllers_inactive_at_startup: - "joint_trajectory_controller" - - "admittance_controller_open_door" - - "joint_trajectory_controller_chained_open_door" - "joint_trajectory_admittance_controller" - "velocity_force_controller" # Any controllers here will not be spawned by MoveIt Pro. diff --git a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml index 138f849a..17851768 100644 --- a/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml +++ b/src/picknik_ur_site_config/config/control/picknik_ur.ros2_control.yaml @@ -15,10 +15,6 @@ controller_manager: type: robotiq_controllers/RobotiqActivationController servo_controller: type: joint_trajectory_controller/JointTrajectoryController - admittance_controller_open_door: - type: admittance_controller/AdmittanceController - joint_trajectory_controller_chained_open_door: - type: joint_trajectory_controller/JointTrajectoryController joint_trajectory_admittance_controller: type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController velocity_force_controller: @@ -81,47 +77,6 @@ joint_trajectory_controller: wrist_3_joint: goal: 0.05 -joint_trajectory_controller_chained_open_door: - ros__parameters: - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity - command_joints: - - admittance_controller_open_door/shoulder_pan_joint - - admittance_controller_open_door/shoulder_lift_joint - - admittance_controller_open_door/elbow_joint - - admittance_controller_open_door/wrist_1_joint - - admittance_controller_open_door/wrist_2_joint - - admittance_controller_open_door/wrist_3_joint - state_publish_rate: 100.0 - action_monitor_rate: 20.0 - allow_partial_joints_goal: false - constraints: - stopped_velocity_tolerance: 0.0 - goal_time: 0.0 - shoulder_pan_joint: - goal: 0.25 - shoulder_lift_joint: - goal: 0.25 - elbow_joint: - goal: 0.25 - wrist_1_joint: - goal: 0.25 - wrist_2_joint: - goal: 0.25 - wrist_3_joint: - goal: 0.25 - servo_controller: ros__parameters: joints: @@ -172,97 +127,6 @@ robotiq_activation_controller: ros__parameters: default: true -admittance_controller_open_door: - ros__parameters: - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - - command_interfaces: - - position - - state_interfaces: - - position - - velocity - - chainable_command_interfaces: - - position - - velocity - - kinematics: - plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL - plugin_package: kinematics_interface - base: base_link # Assumed to be stationary - tip: grasp_link # The end effector frame - alpha: 0.05 - - ft_sensor: - name: tcp_fts_sensor - frame: - id: wrist_3_link # Wrench measurements are in this frame - filter_coefficient: 0.1 - - control: - frame: - id: grasp_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector - - fixed_world_frame: - frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link) - id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector - - gravity_compensation: - frame: - id: wrist_3_link - - CoG: # specifies the center of gravity of the end effector - pos: - - 0.1 # x - - 0.0 # y - - 0.0 # z - force: 0.0 # mass * 9.81 - - admittance: - selected_axes: - - true # x - - true # y - - true # z - - true # rx - - true # ry - - true # rz - - # Having ".0" at the end is MUST, otherwise there is a loading error - # F = M*a + D*v + S*(x - x_d) - mass: - - 10.0 # x - - 10.0 # y - - 10.0 # z - - 5.0 # rx - - 5.0 # ry - - 5.0 # rz - - damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S )) - - 5.0 # x - - 5.0 # y - - 5.0 # z - - 5.0 # rx - - 5.0 # ry - - 5.0 # rz - - stiffness: - - 500.0 # x - - 500.0 # y - - 500.0 # z - - 100.0 # rx - - 100.0 # ry - - 100.0 # rz - - # general settings - enable_parameter_update_without_reactivation: true - joint_trajectory_admittance_controller: ros__parameters: joints: diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml index 0c52d689..fcca6052 100644 --- a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml +++ b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml @@ -6,7 +6,7 @@ > - + - - - - - - - - - - - - - - - - - diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml index 21de49d5..2c6e75e9 100644 --- a/src/picknik_ur_site_config/objectives/push_button.xml +++ b/src/picknik_ur_site_config/objectives/push_button.xml @@ -6,7 +6,7 @@ > - + - - - - - - - - - - - - - - - - - diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml index c99a0349..53359d83 100644 --- a/src/picknik_ur_site_config/objectives/push_button_ml.xml +++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml @@ -94,7 +94,7 @@ graspable_object="{button}" pose="{button_pose}" /> - + - - - - - - - - - - - - - - - - - diff --git a/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml b/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml new file mode 100644 index 00000000..ee4c82a9 --- /dev/null +++ b/src/picknik_ur_site_config/objectives/retreat_to_initial_pose.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + +