From 506d4d1591aa5345e970b02e664f762e18d31e11 Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Thu, 11 Jul 2024 02:20:04 -0600 Subject: [PATCH 1/2] Add inline documentation to move_along_path (#309) --- .../objectives/move_along_path.xml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml index 5e38c20f..7e1b23a6 100644 --- a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml +++ b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml @@ -1,8 +1,9 @@ - + + @@ -17,10 +18,13 @@ + + + From cf6d254bc5399b35510aaa36484ba62627455b99 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Thu, 11 Jul 2024 13:54:19 +0200 Subject: [PATCH 2/2] Add mobile ur config (#304) --- Co-authored-by: Mario Prats --- .gitmodules | 8 + src/external_dependencies/LMS1xx | 1 + src/external_dependencies/ridgeback | 1 + src/picknik_ur_mobile_config/CMakeLists.txt | 22 + src/picknik_ur_mobile_config/LICENSE | 25 + src/picknik_ur_mobile_config/README.md | 5 + .../config/config.yaml | 89 + .../control/picknik_ur.ros2_control.yaml | 175 + .../config/initial_positions.yaml | 9 + .../config/moveit/hard_joint_limits.yaml | 117 + .../config/moveit/joint_limits.yaml | 117 + .../config/moveit/ompl_planning.yaml | 32 + .../config/moveit/picknik_ur.srdf | 241 + .../config/moveit/pilz_cartesian_limits.yaml | 6 + ...lz_industrial_motion_planner_planning.yaml | 13 + .../config/moveit/sensors_3d.yaml | 25 + .../config/moveit/stomp_planning.yaml | 21 + .../moveit/trac_ik_kinematics_distance.yaml | 6 + .../moveit/trac_ik_kinematics_speed.yaml | 6 + .../config/moveit/ur_servo.yaml | 64 + .../description/LICENSE | 26 + .../description/assets/base.stl | Bin 0 -> 49284 bytes .../description/assets/base_0.obj | 15306 ++ .../description/assets/base_1.obj | 17646 ++ .../description/assets/base_platform.stl | Bin 0 -> 49884 bytes .../description/assets/forearm_0.obj | 45520 +++++ .../description/assets/forearm_1.obj | 2159 + .../description/assets/forearm_2.obj | 25602 +++ .../description/assets/forearm_3.obj | 29961 +++ .../description/assets/ridgeback/LICENSE.txt | 21 + .../description/assets/ridgeback/body.stl | Bin 0 -> 29484 bytes .../description/assets/ridgeback/top.stl | Bin 0 -> 15684 bytes .../description/assets/robotiq_2f85/base.stl | Bin 0 -> 1712484 bytes .../assets/robotiq_2f85/finger_link.stl | Bin 0 -> 89084 bytes .../assets/robotiq_2f85/finger_tip_link.stl | Bin 0 -> 110484 bytes .../robotiq_2f85/inner_knuckle_link.stl | Bin 0 -> 84884 bytes .../assets/robotiq_2f85/knuckle_link.stl | Bin 0 -> 67084 bytes .../description/assets/robotiq_2f85/pad.stl | Bin 0 -> 15084 bytes .../assets/robotiq_2f85/silicone_pad.stl | Bin 0 -> 15084 bytes .../description/assets/shoulder_0.obj | 79709 ++++++++ .../description/assets/shoulder_1.obj | 15676 ++ .../description/assets/shoulder_2.obj | 65873 +++++++ .../description/assets/upperarm_0.obj | 4342 + .../description/assets/upperarm_1.obj | 29711 +++ .../description/assets/upperarm_2.obj | 99001 ++++++++++ .../description/assets/upperarm_3.obj | 144582 +++++++++++++++ .../description/assets/wrist1_0.obj | 7761 + .../description/assets/wrist1_1.obj | 66213 +++++++ .../description/assets/wrist1_2.obj | 44960 +++++ .../description/assets/wrist2_0.obj | 23375 +++ .../description/assets/wrist2_1.obj | 57886 ++++++ .../description/assets/wrist2_2.obj | 57883 ++++++ .../description/assets/wrist3.obj | 5893 + .../description/picknik_ur.xacro | 82 + .../picknik_ur_attachments_macro.xacro | 303 + .../picknik_ur_mujoco_ros2_control.xacro | 110 + .../description/scene.xml | 29 + .../description/ur5e.xml | 368 + .../launch/agent_bridge.launch.xml | 5 + .../objectives/apriltag_detection_config.yaml | 9 + .../objectives/apriltag_pick_object.xml | 20 + .../pick_first_object_in_vector.xml | 17 + .../objectives/pick_object.xml | 23 + .../objectives/pick_object_config.yaml | 11 + .../objectives/pick_up_cube.xml | 11 + .../objectives/take_snap.xml | 15 + .../objectives/wrist_snap.xml | 14 + src/picknik_ur_mobile_config/package.xml | 43 + .../waypoints/ur_waypoints.yaml | 47 + 69 files changed, 841196 insertions(+) create mode 160000 src/external_dependencies/LMS1xx create mode 160000 src/external_dependencies/ridgeback create mode 100644 src/picknik_ur_mobile_config/CMakeLists.txt create mode 100644 src/picknik_ur_mobile_config/LICENSE create mode 100644 src/picknik_ur_mobile_config/README.md create mode 100644 src/picknik_ur_mobile_config/config/config.yaml create mode 100644 src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml create mode 100644 src/picknik_ur_mobile_config/config/initial_positions.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf create mode 100644 src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml create mode 100644 src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml create mode 100644 src/picknik_ur_mobile_config/description/LICENSE create mode 100644 src/picknik_ur_mobile_config/description/assets/base.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/base_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/base_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/base_platform.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/forearm_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/forearm_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/forearm_2.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/forearm_3.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/ridgeback/LICENSE.txt create mode 100644 src/picknik_ur_mobile_config/description/assets/ridgeback/body.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/ridgeback/top.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/base.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/finger_link.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/finger_tip_link.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/inner_knuckle_link.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/knuckle_link.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/pad.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/robotiq_2f85/silicone_pad.stl create mode 100644 src/picknik_ur_mobile_config/description/assets/shoulder_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/shoulder_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/shoulder_2.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/upperarm_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/upperarm_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/upperarm_2.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/upperarm_3.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist1_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist1_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist1_2.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist2_0.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist2_1.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist2_2.obj create mode 100644 src/picknik_ur_mobile_config/description/assets/wrist3.obj create mode 100644 src/picknik_ur_mobile_config/description/picknik_ur.xacro create mode 100644 src/picknik_ur_mobile_config/description/picknik_ur_attachments_macro.xacro create mode 100644 src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro create mode 100644 src/picknik_ur_mobile_config/description/scene.xml create mode 100644 src/picknik_ur_mobile_config/description/ur5e.xml create mode 100644 src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml create mode 100644 src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml create mode 100644 src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml create mode 100644 src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml create mode 100644 src/picknik_ur_mobile_config/objectives/pick_object.xml create mode 100644 src/picknik_ur_mobile_config/objectives/pick_object_config.yaml create mode 100644 src/picknik_ur_mobile_config/objectives/pick_up_cube.xml create mode 100644 src/picknik_ur_mobile_config/objectives/take_snap.xml create mode 100644 src/picknik_ur_mobile_config/objectives/wrist_snap.xml create mode 100644 src/picknik_ur_mobile_config/package.xml create mode 100644 src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml diff --git a/.gitmodules b/.gitmodules index 60047eb7..b7bb5704 100644 --- a/.gitmodules +++ b/.gitmodules @@ -13,3 +13,11 @@ path = src/external_dependencies/gz_ros2_control url = https://github.com/PickNikRobotics/gz_ros2_control.git branch = mimic-joint-feature-humble +[submodule "src/external_dependencies/LMS1xx"] + path = src/external_dependencies/LMS1xx + url = https://github.com/clearpathrobotics/LMS1xx.git + branch = humble-devel +[submodule "src/external_dependencies/ridgeback"] + path = src/external_dependencies/ridgeback + url = https://github.com/sjahr/ridgeback.git + branch = ros2 diff --git a/src/external_dependencies/LMS1xx b/src/external_dependencies/LMS1xx new file mode 160000 index 00000000..90001ac2 --- /dev/null +++ b/src/external_dependencies/LMS1xx @@ -0,0 +1 @@ +Subproject commit 90001ac2849c9f6ab9ca9bbfeb816f9b66f966de diff --git a/src/external_dependencies/ridgeback b/src/external_dependencies/ridgeback new file mode 160000 index 00000000..dae97256 --- /dev/null +++ b/src/external_dependencies/ridgeback @@ -0,0 +1 @@ +Subproject commit dae97256b4c88d63e2cdfd8b2939f7caac201c45 diff --git a/src/picknik_ur_mobile_config/CMakeLists.txt b/src/picknik_ur_mobile_config/CMakeLists.txt new file mode 100644 index 00000000..3db8ce0d --- /dev/null +++ b/src/picknik_ur_mobile_config/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.22) +project(picknik_ur_mobile_config) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY + config + description + launch + objectives + waypoints + DESTINATION + share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/picknik_ur_mobile_config/LICENSE b/src/picknik_ur_mobile_config/LICENSE new file mode 100644 index 00000000..574ef079 --- /dev/null +++ b/src/picknik_ur_mobile_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * 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. + + * Neither the name of the copyright holder 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 THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 OR CONTRIBUTORS 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. diff --git a/src/picknik_ur_mobile_config/README.md b/src/picknik_ur_mobile_config/README.md new file mode 100644 index 00000000..7a00d3bc --- /dev/null +++ b/src/picknik_ur_mobile_config/README.md @@ -0,0 +1,5 @@ +# picknik_ur_mobile_config + +A MoveIt Pro MuJoCo simulation of a UR5 arm on a mobile Ridgeback base. + +For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) diff --git a/src/picknik_ur_mobile_config/config/config.yaml b/src/picknik_ur_mobile_config/config/config.yaml new file mode 100644 index 00000000..c330b194 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/config.yaml @@ -0,0 +1,89 @@ +# +# This contains information for a unique instance of a robot. +# + +# Name of the package to specialize +based_on_package: "picknik_ur_base_config" +hardware: + # Parameters used to configure the robot description through XACRO. + # A URDF and SRDF are both required. + # [Required] + robot_description: + urdf: + package: "picknik_ur_mobile_config" + path: "description/picknik_ur.xacro" + srdf: + package: "picknik_ur_mobile_config" + path: "config/moveit/picknik_ur.srdf" + urdf_params: + - joint_limits_parameters_file: + package: "picknik_ur_mobile_config" + path: "config/moveit/joint_limits.yaml" + +moveit_params: + servo: + package: "picknik_ur_mobile_config" + path: "config/moveit/ur_servo.yaml" + joint_limits: + package: "picknik_ur_mobile_config" + path: "config/moveit/joint_limits.yaml" + servo_joint_limits: + package: "picknik_ur_mobile_config" + path: "config/moveit/hard_joint_limits.yaml" + +# Configuration for loading behaviors and objectives. +# [Required] +objectives: + # List of plugins for loading custom behaviors. + # [Required] + behavior_loader_plugins: + # This plugin will load the core MoveIt Pro Behaviors. + # Add additional plugin loaders as needed. + core: + - "moveit_studio::behaviors::CoreBehaviorsLoader" + - "moveit_studio::behaviors::MTCCoreBehaviorsLoader" + - "moveit_studio::behaviors::ServoBehaviorsLoader" + - "moveit_studio::behaviors::VisionBehaviorsLoader" + # Specify source folder for objectives + # [Required] + objective_library_paths: + sim_objectives: + package_name: "picknik_ur_mobile_config" + relative_path: "objectives" + # Specify the location of the saved waypoints file. + # [Required] + waypoints_file: + package_name: "picknik_ur_mobile_config" + relative_path: "waypoints/ur_waypoints.yaml" + + +# Configuration for launching ros2_control processes. +# [Required, if using ros2_control] +ros2_control: + config: + package: "picknik_ur_mobile_config" + path: "config/control/picknik_ur.ros2_control.yaml" + # MoveIt Pro will load and activate these controllers at start up to ensure they are available. + # If not specified, it is up to the user to ensure the appropriate controllers are active and available + # for running the application. + # [Optional, default=[]] + controllers_active_at_startup: + - "force_torque_sensor_broadcaster" + - "robotiq_gripper_controller" + - "joint_state_broadcaster" + - "servo_controller" + # Load but do not start these controllers so they can be activated later if needed. + controllers_inactive_at_startup: + - "joint_trajectory_controller" + # Any controllers here will not be spawned by MoveIt Pro. + # [Optional, default=[]] + controllers_not_managed: [] + # Optionally configure remapping rules to let multiple controllers receive commands on the same topic. + # [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_camera/points" diff --git a/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml new file mode 100644 index 00000000..079d6f0e --- /dev/null +++ b/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml @@ -0,0 +1,175 @@ +controller_manager: + ros__parameters: + update_rate: 600 # Hz + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + robotiq_gripper_controller: + type: position_controllers/GripperActionController + servo_controller: + type: joint_trajectory_controller/JointTrajectoryController + + force_torque_sensor_broadcaster: + type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster + +joint_state_broadcaster: + ros__parameters: + use_local_topics: false + joints: + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + - robotiq_85_left_knuckle_joint + interfaces: + - position + - velocity + - effort + +joint_trajectory_controller: + ros__parameters: + joints: + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + command_joints: + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - 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 + linear_x_joint: + goal: 0.05 + linear_y_joint: + goal: 0.05 + rotational_yaw_joint: + goal: 0.05 + shoulder_pan_joint: + goal: 0.05 + shoulder_lift_joint: + goal: 0.05 + elbow_joint: + goal: 0.05 + wrist_1_joint: + goal: 0.05 + wrist_2_joint: + goal: 0.05 + wrist_3_joint: + goal: 0.05 + acceleration_limits: + linear_x_joint: 10.0 + linear_y_joint: 10.0 + rotational_yaw_joint: 10.0 + shoulder_pan_joint: 10.0 + shoulder_lift_joint: 10.0 + elbow_joint: 10.0 + wrist_1_joint: 10.0 + wrist_2_joint: 10.0 + wrist_3_joint: 10.0 + +robotiq_gripper_controller: + ros__parameters: + default: true + joint: robotiq_85_left_knuckle_joint + allow_stalling: true +servo_controller: + ros__parameters: + joints: + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + + command_interfaces: + - position + state_interfaces: + - position + - velocity + command_joints: + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - 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 + linear_x_joint: + goal: 0.05 + linear_y_joint: + goal: 0.05 + rotational_yaw_joint: + goal: 0.05 + shoulder_pan_joint: + goal: 0.05 + shoulder_lift_joint: + goal: 0.05 + elbow_joint: + goal: 0.05 + wrist_1_joint: + goal: 0.05 + wrist_2_joint: + goal: 0.05 + wrist_3_joint: + goal: 0.05 + acceleration_limits: + linear_x_joint: 10.0 + linear_y_joint: 10.0 + rotational_yaw_joint: 10.0 + shoulder_pan_joint: 10.0 + shoulder_lift_joint: 10.0 + elbow_joint: 10.0 + wrist_1_joint: 10.0 + wrist_2_joint: 10.0 + wrist_3_joint: 10.0 + +force_torque_sensor_broadcaster: + ros__parameters: + sensor_name: robotiq_ft_sensor + state_interface_names: + - force.x + - force.y + - force.z + - torque.x + - torque.y + - torque.z + frame_id: fts_link diff --git a/src/picknik_ur_mobile_config/config/initial_positions.yaml b/src/picknik_ur_mobile_config/config/initial_positions.yaml new file mode 100644 index 00000000..ad2d6a73 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/initial_positions.yaml @@ -0,0 +1,9 @@ +linear_x_joint: 1.5 +linear_y_joint: 1.5 +rotational_yaw_joint: 0.0 +shoulder_pan_joint: 0.0 +shoulder_lift_joint: -1.41 +elbow_joint: -0.7 +wrist_1_joint: -2.12 +wrist_2_joint: 1.67 +wrist_3_joint: 0.0 diff --git a/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml new file mode 100644 index 00000000..8939a72f --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/hard_joint_limits.yaml @@ -0,0 +1,117 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR5e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +# +# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit +joint_limits: + linear_x_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: 0.1 + max_effort: 150.0 + max_position: 5.0 + max_velocity: 0.175 + min_position: -5.0 + linear_y_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: 0.1 + max_effort: 150.0 + max_position: 5.0 + max_velocity: 0.175 + min_position: -5.0 + rotational_yaw_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + max_effort: 150.0 + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + shoulder_pan_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + max_effort: 150.0 + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + shoulder_lift_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + max_effort: 150.0 + max_position: !degrees 90.0 + max_velocity: !degrees 30.0 + min_position: !degrees -270.0 + elbow_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + 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 + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + wrist_1_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + max_effort: 28.0 + max_position: !degrees 180.0 + max_velocity: !degrees 60.0 + min_position: !degrees -180.0 + wrist_2_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 180.0 + max_effort: 28.0 + max_position: !degrees 180.0 + max_velocity: !degrees 60.0 + min_position: !degrees -180.0 + wrist_3_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 180.0 + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 60.0 + min_position: !degrees -360.0 + robotiq_85_left_knuckle_joint: + has_velocity_limits: true + max_velocity: 0.5 + has_acceleration_limits: true + max_acceleration: 1.0 diff --git a/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml new file mode 100644 index 00000000..d89a0792 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/joint_limits.yaml @@ -0,0 +1,117 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR5e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +# +# NOTE: Acceleration limits are not publicly available so we have picked a reasonable upper limit +joint_limits: + linear_x_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: 0.1 + max_effort: 150.0 + max_position: 5.0 + max_velocity: 0.175 + min_position: -5.0 + linear_y_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: 0.1 + max_effort: 150.0 + max_position: 5.0 + max_velocity: 0.175 + min_position: -5.0 + rotational_yaw_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 90.0 + max_effort: 150.0 + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + shoulder_pan_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + max_effort: 150.0 + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + shoulder_lift_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + max_effort: 150.0 + max_position: !degrees 90.0 + max_velocity: !degrees 30.0 + min_position: !degrees -270.0 + elbow_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + 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 + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 30.0 + min_position: !degrees -180.0 + wrist_1_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + max_effort: 28.0 + max_position: !degrees 180.0 + max_velocity: !degrees 60.0 + min_position: !degrees -180.0 + wrist_2_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + max_effort: 28.0 + max_position: !degrees 180.0 + max_velocity: !degrees 60.0 + min_position: !degrees -180.0 + wrist_3_joint: + has_acceleration_limits: true + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_acceleration: !degrees 30.0 + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 60.0 + min_position: !degrees -360.0 + robotiq_85_left_knuckle_joint: + has_velocity_limits: true + max_velocity: 0.5 + has_acceleration_limits: true + max_acceleration: 1.0 diff --git a/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml new file mode 100644 index 00000000..186158d5 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/ompl_planning.yaml @@ -0,0 +1,32 @@ +planning_plugins: + - ompl_interface/OMPLPlanner +# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + +planner_configs: + APSConfigDefault: + type: geometric::AnytimePathShortening + shortcut: 1 # Attempt to shortcut all new solution paths + hybridize: 1 # Compute hybrid solution trajectories + max_hybrid_paths: 32 # Number of hybrid paths generated per iteration + num_planners: 16 # The number of default planners to use for planning + planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect" # 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]" + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() +manipulator: + default_planner_config: RRTConnectkConfigDefault + planner_configs: + - APSConfigDefault + - RRTConnectkConfigDefault + enforce_constrained_state_space: true + ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE + projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) + longest_valid_segment_fraction: 0.01 diff --git a/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf b/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf new file mode 100644 index 00000000..e0be97c8 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf @@ -0,0 +1,241 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml b/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml new file mode 100644 index 00000000..1633938e --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Cartesian limits for the Pilz planner +cartesian_limits: + max_trans_vel: 0.1 + max_trans_acc: 0.1 + max_trans_dec: -0.1 + max_rot_vel: 0.1 diff --git a/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml new file mode 100644 index 00000000..dd179d2d --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/pilz_industrial_motion_planner_planning.yaml @@ -0,0 +1,13 @@ +planning_plugins: + - pilz_industrial_motion_planner/CommandPlanner +default_planner_config: LIN +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/ValidateSolution +capabilities: >- + pilz_industrial_motion_planner/MoveGroupSequenceAction + pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml b/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml new file mode 100644 index 00000000..12ac1297 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/sensors_3d.yaml @@ -0,0 +1,25 @@ +sensors: + - scene_scan_camera +scene_scan_camera: + # The name of the Octomap updater plugin that we are using. + sensor_plugin: "moveit_studio_plugins/PointCloudServiceOctomapUpdater" + # Specifies the topic to listen on for a point cloud. + # Set to an empty topic to disable. + point_cloud_service_name: "/point_cloud_service" + # Points further than this will not be used (in meters). + max_range: 1.5 + # Choose one of every 'point_subsample' points (select all if set to 1). + point_subsample: 1 + # Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. + padding_scale: 1.0 + # Absolute padding around scaled collision shapes when excluding them from the octomap (in meters). + padding_offset: 0.01 + # The octomap representation will be updated at rate less than or equal to this value. + max_update_rate: 0.1 + +# Specifies the resolution at which the octomap is maintained (in meters). +octomap_resolution: 0.01 +# Specifies the coordinate frame in which the Octomap representation will be stored. +# Note! When an OccupancyMonitor instance is initialized by the PlanningSceneMonitor, +# this frame parameter will not be used. Instead, the frame defaults to the planning frame. +octomap_frame: "base_link" diff --git a/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml b/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml new file mode 100644 index 00000000..7447a8ff --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/stomp_planning.yaml @@ -0,0 +1,21 @@ +planning_plugins: + - stomp_moveit/StompPlanner +# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + +stomp_moveit: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + exponentiated_cost_sensitivity: 0.8 + control_cost_weight: 0.1 + delta_t: 0.1 diff --git a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml new file mode 100644 index 00000000..65f77d5c --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml @@ -0,0 +1,6 @@ +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 + epsilon: 0.0001 + solve_type: "Distance" diff --git a/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml new file mode 100644 index 00000000..90559540 --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml @@ -0,0 +1,6 @@ +manipulator: + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 + epsilon: 0.0001 + solve_type: "Speed" diff --git a/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml b/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml new file mode 100644 index 00000000..b89598cc --- /dev/null +++ b/src/picknik_ur_mobile_config/config/moveit/ur_servo.yaml @@ -0,0 +1,64 @@ +############################################### +# Modify all parameters related to servoing here +############################################### + +# Enable dynamic parameter updates +enable_parameter_update: true + +## Properties of incoming commands +command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s +scale: + # Scale parameters are only used if command_in_type=="unitless" + linear: 2.0 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands. + rotational: 3.0 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands. + # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic. + joint: 2.0 + +# Default to driving the arm at 50% maximum speed. +override_velocity_scaling_factor: 0.5 + +## Properties of outgoing commands +publish_period: 0.01 # 1/Nominal publish rate [seconds] +max_expected_latency: 0.1 # delay between sending a command and the robot executing it [seconds] + +# What type of topic does your robot driver expect? +# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory +command_out_type: trajectory_msgs/JointTrajectory + +# What to publish? Can save some bandwidth as most robots only require positions or velocities +publish_joint_positions: true +publish_joint_velocities: true +publish_joint_accelerations: false + +## Plugins for smoothing outgoing commands +use_smoothing: true +smoothing_filter_plugin_name: "online_signal_smoothing::AccelerationLimitedPlugin" +acceleration_filter_update_period: 0.01 # [seconds] Must match the publish_period parameter + +## MoveIt properties +move_group_name: manipulator # Often 'manipulator' or 'arm' +acceleration_filter_planning_group_name: manipulator # Often 'manipulator' or 'arm' +is_primary_planning_scene_monitor: false # The MoveGroup node maintains the planning scene, so Servo needs to get its world info from there. +monitored_planning_scene_topic: /monitored_planning_scene + +## Stopping behaviour +incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command + +## Configure handling of singularities and joint limits +lower_singularity_threshold: 30.0 # Start decelerating when the condition number hits this (close to singularity) +hard_stop_singularity_threshold: 50.0 # Stop when the condition number hits this +joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # added as a buffer to joint limits [radians]. If moving quickly, make this larger. + +## Topic names +cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands +joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands +joint_topic: /joint_states +status_topic: ~/status # Publish status to this topic +command_out_topic: /servo_controller/joint_trajectory # Publish outgoing commands here + +## Collision checking for the entire robot body +check_collisions: true # Check collisions? +check_octomap_collisions: false # Check collisions with octomap? +collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often. +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] diff --git a/src/picknik_ur_mobile_config/description/LICENSE b/src/picknik_ur_mobile_config/description/LICENSE new file mode 100644 index 00000000..f24e07cb --- /dev/null +++ b/src/picknik_ur_mobile_config/description/LICENSE @@ -0,0 +1,26 @@ +Copyright 2018 ROS Industrial Consortium + +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 the copyright holder 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 THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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. 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--git a/src/picknik_ur_mobile_config/description/assets/ridgeback/LICENSE.txt b/src/picknik_ur_mobile_config/description/assets/ridgeback/LICENSE.txt new file mode 100644 index 00000000..3fd3245a --- /dev/null +++ b/src/picknik_ur_mobile_config/description/assets/ridgeback/LICENSE.txt @@ -0,0 +1,21 @@ +Copyright 2021 Clearpath Robotics Inc. + +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 the copyright holder 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 THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 OR CONTRIBUTORS 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. diff --git a/src/picknik_ur_mobile_config/description/assets/ridgeback/body.stl b/src/picknik_ur_mobile_config/description/assets/ridgeback/body.stl new file mode 100644 index 0000000000000000000000000000000000000000..9ef3aab2cc130f2495a0b37607b14040f3eb6280 GIT binary patch literal 29484 zcmb7N3$#{MwO-~k%@-o3bp;<~reFf+fFl1N-X!vouQV(lct@bO6iH1pQ;uFU0kLlC z6*W_Igtr1zI0v6+Z!}Xf9U*eXEvVy$cGo~YybN;lkM-t^CvyB;C7Q!8fS=4P2T7e 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b/src/picknik_ur_mobile_config/description/picknik_ur_attachments_macro.xacro @@ -0,0 +1,303 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.002 + 0 + + + + + + + + + + + + + + + + + + + + + + + + 100000.0 + 100000.0 + + + + + 1e+5 + 1 + 0 + 0.2 + 0.002 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro b/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro new file mode 100644 index 00000000..93254a32 --- /dev/null +++ b/src/picknik_ur_mobile_config/description/picknik_ur_mujoco_ros2_control.xacro @@ -0,0 +1,110 @@ + + + + + + + 1 + + + 0.0 + + + + + 1 + + + 0.0 + + + + + + ${-2*pi} + ${2*pi} + + + 0.0 + + + + + + + -2.41 + 2.41 + -1.57 + + + -1.57 + + + + + + + ${-2*pi} + ${2*pi} + + + -3.14 + + + + + + + -2.66 + 2.66 + + + -2.51 + + + + + + + ${-2*pi} + ${2*pi} + + + 0.0 + + + + + + + -2.23 + 2.23 + + + 0.96 + + + + + + + + 0.7929 + + + + + + + + + picknik_mujoco_ros/MujocoSystem + description/scene.xml + picknik_ur_mobile_config + 10 + 60 + 10 + + + + diff --git a/src/picknik_ur_mobile_config/description/scene.xml b/src/picknik_ur_mobile_config/description/scene.xml new file mode 100644 index 00000000..e385febc --- /dev/null +++ b/src/picknik_ur_mobile_config/description/scene.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/description/ur5e.xml b/src/picknik_ur_mobile_config/description/ur5e.xml new file mode 100644 index 00000000..51855cd1 --- /dev/null +++ b/src/picknik_ur_mobile_config/description/ur5e.xml @@ -0,0 +1,368 @@ + + + + diff --git a/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml b/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml new file mode 100644 index 00000000..1729a3c8 --- /dev/null +++ b/src/picknik_ur_mobile_config/launch/agent_bridge.launch.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml b/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml new file mode 100644 index 00000000..f1a96237 --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/apriltag_detection_config.yaml @@ -0,0 +1,9 @@ +DetectAprilTags: + apriltag_family_name: 36h11 + apriltag_size: 0.04 + max_hamming: 0 + n_threads: 1 + quad_decimate: 1 + quad_sigma: 0.1 + refine_edges: false + z_up: false diff --git a/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml b/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml new file mode 100644 index 00000000..9f616f9d --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/apriltag_pick_object.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml b/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml new file mode 100644 index 00000000..ba9aedcf --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/pick_first_object_in_vector.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/pick_object.xml b/src/picknik_ur_mobile_config/objectives/pick_object.xml new file mode 100644 index 00000000..7bba18e7 --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/pick_object.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml b/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml new file mode 100644 index 00000000..09ca7d6e --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/pick_object_config.yaml @@ -0,0 +1,11 @@ +SetupMTCPickObject: + # The lift vector points to the direction of the positive z-axis of the frame marked as the world frame. + world_frame_name: "world" + arm_group_name: "manipulator" + end_effector_group_name: "gripper" + end_effector_name: "moveit_ee" + hand_frame_name: "grasp_link" + end_effector_closed_pose_name: "close" + + approach_distance: 0.1 + lift_distance: 0.1 diff --git a/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml b/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml new file mode 100644 index 00000000..df634209 --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/pick_up_cube.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/take_snap.xml b/src/picknik_ur_mobile_config/objectives/take_snap.xml new file mode 100644 index 00000000..376d1866 --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/take_snap.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/objectives/wrist_snap.xml b/src/picknik_ur_mobile_config/objectives/wrist_snap.xml new file mode 100644 index 00000000..c4b2b048 --- /dev/null +++ b/src/picknik_ur_mobile_config/objectives/wrist_snap.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/src/picknik_ur_mobile_config/package.xml b/src/picknik_ur_mobile_config/package.xml new file mode 100644 index 00000000..845dec52 --- /dev/null +++ b/src/picknik_ur_mobile_config/package.xml @@ -0,0 +1,43 @@ + + + picknik_ur_mobile_config + 5.1.0 + + MuJoCo simulation configuration package for Picknik's UR robot on a linear rail + + MoveIt Pro Maintainer + + BSD-3-Clause + + ament_cmake + + admittance_controller + moveit_planners_stomp + moveit_ros_perception + moveit_studio_agent + moveit_studio_behavior + moveit_studio_ur_pstop_manager + picknik_accessories + realsense2_camera + realsense2_description + robotiq_description + robotiq_controllers + trac_ik_kinematics_plugin + ur_description + ur_robot_driver + picknik_mujoco_ros + ridgeback + + ament_lint_auto + + ament_clang_format + ament_clang_tidy + ament_cmake_copyright + ament_cmake_lint_cmake + picknik_ament_copyright + ament_flake8 + + + ament_cmake + + diff --git a/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml b/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml new file mode 100644 index 00000000..4a325ccb --- /dev/null +++ b/src/picknik_ur_mobile_config/waypoints/ur_waypoints.yaml @@ -0,0 +1,47 @@ +- description: '' + favorite: false + joint_group_names: + - gripper + - linear_actuator + - manipulator + joint_state: + effort: [] + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + name: + - robotiq_85_left_knuckle_joint + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + position: + - 0.0 + - 0.4 + - 0.4 + - 1.0 + - 0.0 + - -1.5708 + - 0.785398 + - -1.2948195437205516 + - -1.5708 + - 0.0 + velocity: [] + multi_dof_joint_state: + header: + frame_id: '' + stamp: + nanosec: 0 + sec: 0 + joint_names: [] + transforms: [] + twist: [] + wrench: [] + name: Look at Table