From 3ef6d0693148bfc6a2abe5f5d8425f25f64c9a42 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Tue, 7 Nov 2017 10:18:04 +0100 Subject: [PATCH 01/18] changed group name/joints for raw3-1 --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 232 +++++++++--------- 1 file changed, 117 insertions(+), 115 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index a042b50e9..27685bdc1 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -10,15 +10,30 @@ - - - - + + + + + + + + - + - + + + + + + + + + + @@ -36,29 +51,32 @@ - - - - - + + + + + - - - - + + + - + + + + + @@ -75,36 +93,67 @@ - - - - - + + + + + + + + + + + + + + + + + + + + + + - + + + + - + + + - + + + + - + + + + - + + + + @@ -117,12 +166,9 @@ - - - - - + + @@ -135,12 +181,9 @@ - - - - - + + @@ -152,12 +195,9 @@ - - - - - + + @@ -168,12 +208,9 @@ - - - - - + + @@ -183,12 +220,9 @@ - - - - - + + @@ -197,12 +231,10 @@ - - - + - - + + @@ -211,96 +243,66 @@ - - - - - + + - - - - - + + - - - - - - + + - - - + + - - + + - - - + - - + + - - - - - + + - - - - - + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + - - - + + + From 40994b200c70440ffbada05f20704d34923f6e7d Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 2 Feb 2018 14:09:06 +0100 Subject: [PATCH 02/18] add joint constraints --- .../moveit/config/constraints_limit.yaml | 90 +++++++++++++++++++ 1 file changed, 90 insertions(+) create mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml new file mode 100644 index 000000000..fac778f8b --- /dev/null +++ b/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml @@ -0,0 +1,90 @@ + +################################## +#joint constraint +################################## + +joint_constraint_limits: +# arm_elbow_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_shoulder_lift_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 + arm_shoulder_pan_joint: + ceneter_position: -0.675 + tolerance_above: 0.830 + tolerance_below: 1.05 + arm_wrist_1_joint: + ceneter_position: -3.14 + tolerance_above: 1.57 + tolerance_below: 3.14 + arm_wrist_2_joint: + ceneter_position: -1.5 + tolerance_above: 1.03 + tolerance_below: 1.15 +# arm_wrist_3_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 + +################################## +#position constraint --> check what required +################################## + +#position_constraint_limits: +# arm_elbow_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_shoulder_lift_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_shoulder_pan_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_wrist_1_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_wrist_2_joint: +# ceneter_position: -1.5 +# tolerance_above: 0.7652 +# tolerance_below: 1.15 +# arm_wrist_3_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 + +################################## +#orientation constraint --> check what required +################################## + +#joint_constraint_limits: +# arm_elbow_joint: +# ceneter_position: -0.675 +# tolerance_above: 0.785 +# tolerance_below: 1.05 +# arm_shoulder_lift_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_shoulder_pan_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 +# arm_wrist_1_joint: +# ceneter_position: -3.14 +# tolerance_above: 1.57 +# tolerance_below: 3.14 +# arm_wrist_2_joint: +# ceneter_position: -1.5 +# tolerance_above: 0.7652 +# tolerance_below: 1.15 +# arm_wrist_3_joint: +# ceneter_position: 0 +# tolerance_above: 0 +# tolerance_below: 0 From 458b6e84b636152f990183ef671906cc14526ffa Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 2 Feb 2018 14:09:31 +0100 Subject: [PATCH 03/18] stomp configuration file --- .../raw3-1/moveit/config/stomp_config.yaml | 38 +++++++++++++++++++ .../raw3-1/moveit/config/stomp_planning.yaml | 0 2 files changed, 38 insertions(+) create mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml create mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml new file mode 100644 index 000000000..5d910c4c7 --- /dev/null +++ b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml @@ -0,0 +1,38 @@ +stomp/arm: + group_name: arm + optimization: + num_timesteps: 20 + num_iterations: 50 + num_iterations_after_valid: 0 + num_rollouts: 10 + max_rollouts: 100 + 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: [0.3, 1.0, 0.5, 0.4, 0.3, 0.3] + cost_functions: + - class: stomp_moveit/ObstacleDistanceGradient + max_distance: 0.2 + cost_weight: 1.0 + 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: [0, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/ControlCostProjectionMatrix + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.02 + rgb: [191, 0, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized + diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml new file mode 100644 index 000000000..e69de29bb From 2ad869b7d2f28b08244b26848e261e6b7be75846 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 2 Feb 2018 14:15:54 +0100 Subject: [PATCH 04/18] add stomp planning --- .../raw3-1/moveit/config/stomp_planning.yaml | 49 +++++++++++++++++++ 1 file changed, 49 insertions(+) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml index e69de29bb..b8c96e28a 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml @@ -0,0 +1,49 @@ +# Optimization Task +num_feature_basis_functions: 1 +trajectory_duration: 8.0 +num_time_steps: 30 +publish_trajectory_markers: False +publish_best_trajectory_marker: True + + +# STOMP +max_iterations: 10 +max_iterations_after_collision_free: 1 +max_rollouts: 100 +min_rollouts: 30 +num_rollouts_per_iteration: 10 +start_state_max_bounds_error: 1.0 +start_state_max_dt: 2.0 + +# STOMP (optional) +use_noise_adaptation: true +write_to_file: false +use_openmp: false + +noise_coefficients: + - group_name: arm + stddev: [0.3, 1.0, 1.0, 0.8, 0.3, 0.3, 0.3] + min_stddev: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + decay: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8] + - group_name: robot + stddev: [1.2, 1.0, 1.0, 0.8, 0.3, 0.3] + min_stddev: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] + decay: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8] + +features: +- class: stomp_moveit_interface/ObstacleAvoidanceFeature + collision_clearance: 0.02 +#- class: stomp_moveit_interface/CollisionFeature +# report_validity: false # report state validity based on distance field +# collision_clearance: 0.02 +# debug_collisions: false +# collision_space: +# size_x: 8.5 # The X dimension in meters of the volume to represent +# size_y: 6.0 # The Y dimension in meters of the volume to represent +# size_z: 4.0 # The Z dimension in meters of the volume to represent +# origin_x: 0.0 +# origin_y: 0.0 +# origin_z: 1.5 +# resolution: 0.03 +# collision_tolerance: 0.01 +# max_propagation_distance: 0.1 From 2ceea7bd0eb105a7f6120da8e1f039bf17aad75c Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Thu, 3 May 2018 15:53:30 +0200 Subject: [PATCH 05/18] replaced spelling mistake --- .../moveit/config/constraints_limit.yaml | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml index fac778f8b..e995a0f06 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml @@ -5,27 +5,27 @@ joint_constraint_limits: # arm_elbow_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_shoulder_lift_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 arm_shoulder_pan_joint: - ceneter_position: -0.675 + center_position: -0.675 tolerance_above: 0.830 tolerance_below: 1.05 arm_wrist_1_joint: - ceneter_position: -3.14 + center_position: -3.14 tolerance_above: 1.57 tolerance_below: 3.14 arm_wrist_2_joint: - ceneter_position: -1.5 + center_position: -1.5 tolerance_above: 1.03 tolerance_below: 1.15 # arm_wrist_3_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 @@ -35,27 +35,27 @@ joint_constraint_limits: #position_constraint_limits: # arm_elbow_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_shoulder_lift_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_shoulder_pan_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_wrist_1_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_wrist_2_joint: -# ceneter_position: -1.5 +# center_position: -1.5 # tolerance_above: 0.7652 # tolerance_below: 1.15 # arm_wrist_3_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 @@ -65,26 +65,26 @@ joint_constraint_limits: #joint_constraint_limits: # arm_elbow_joint: -# ceneter_position: -0.675 +# center_position: -0.675 # tolerance_above: 0.785 # tolerance_below: 1.05 # arm_shoulder_lift_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_shoulder_pan_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 # arm_wrist_1_joint: -# ceneter_position: -3.14 +# center_position: -3.14 # tolerance_above: 1.57 # tolerance_below: 3.14 # arm_wrist_2_joint: -# ceneter_position: -1.5 +# center_position: -1.5 # tolerance_above: 0.7652 # tolerance_below: 1.15 # arm_wrist_3_joint: -# ceneter_position: 0 +# center_position: 0 # tolerance_above: 0 # tolerance_below: 0 From dc5a58270ddad08b97a09aa987f1f679940c884c Mon Sep 17 00:00:00 2001 From: ipa-myp Date: Tue, 8 May 2018 17:11:56 +0200 Subject: [PATCH 06/18] moveit config file for schmalz gripper --- .../raw3-1/moveit/config/joint_limits.yaml | 46 ++++++++----------- .../raw3-1/moveit/config/kinematics.yaml | 4 +- .../raw3-1/moveit/config/ompl_planning.yaml | 4 +- .../robots/raw3-1/moveit/config/raw3-1.srdf | 42 ++--------------- 4 files changed, 25 insertions(+), 71 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml index eb39c9728..a196e3c98 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml @@ -4,41 +4,31 @@ joint_limits: arm_elbow_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_shoulder_lift_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_shoulder_pan_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_1_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_2_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_3_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - torso_pan_joint: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - torso_tilt_joint: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml index 7a980f767..c84862117 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml @@ -1,5 +1,5 @@ arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 5 + kinematics_solver_timeout: 0.005 kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/ompl_planning.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/ompl_planning.yaml index 126020c0d..49b1199c4 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/ompl_planning.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/ompl_planning.yaml @@ -26,7 +26,7 @@ planner_configs: min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 RRTkConfigDefault: type: geometric::RRT - range: 0.1 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + 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 RRTConnectkConfigDefault: type: geometric::RRTConnect @@ -64,4 +64,4 @@ arm: - RRTstarkConfigDefault - TRRTkConfigDefault - PRMkConfigDefault - - PRMstarkConfigDefault + - PRMstarkConfigDefault \ No newline at end of file diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index 27685bdc1..c729843ac 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -16,15 +16,8 @@ - + - - - - - @@ -55,7 +48,6 @@ - @@ -65,7 +57,6 @@ - @@ -97,19 +88,6 @@ - - - - - - - - - - - - - @@ -129,7 +107,6 @@ - @@ -139,18 +116,15 @@ - - - - + @@ -231,7 +205,6 @@ - @@ -242,7 +215,6 @@ - @@ -260,7 +232,6 @@ - @@ -268,7 +239,6 @@ - @@ -276,7 +246,6 @@ - @@ -287,21 +256,16 @@ - - - - - - + From f40710664b5ab778e005b3db95be7baa61a8266e Mon Sep 17 00:00:00 2001 From: ipa-myp Date: Tue, 8 May 2018 18:20:13 +0200 Subject: [PATCH 07/18] move group chain till gripper tcp --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index c729843ac..886d89fa4 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -16,7 +16,7 @@ - + @@ -57,6 +57,7 @@ + @@ -102,28 +103,32 @@ - + + + + + - + @@ -182,6 +187,7 @@ + @@ -215,6 +221,7 @@ + @@ -232,6 +239,7 @@ + @@ -239,6 +247,7 @@ + @@ -246,6 +255,7 @@ + @@ -256,10 +266,15 @@ + + + + + From 6947b1764d0426e6318cf99cc6336a84b4ab856c Mon Sep 17 00:00:00 2001 From: ipa-myp Date: Mon, 14 May 2018 13:54:56 +0200 Subject: [PATCH 08/18] added schmalz vacuum gripper --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index 886d89fa4..4d3cba52c 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -10,12 +10,12 @@ - + @@ -103,6 +103,7 @@ + @@ -113,8 +114,6 @@ - - @@ -127,9 +126,10 @@ + - + @@ -187,7 +187,6 @@ - @@ -248,7 +247,6 @@ - @@ -274,10 +272,7 @@ - - - From 9c375983990cb9545aa5a7f222f81559bdca8aeb Mon Sep 17 00:00:00 2001 From: ipa-mjp Date: Fri, 29 Jun 2018 09:39:54 +0200 Subject: [PATCH 09/18] adapt cemera collision --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 32 ++++++++++++++++--- 1 file changed, 27 insertions(+), 5 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index 4d3cba52c..e8dde171b 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -10,12 +10,12 @@ + - @@ -52,13 +52,14 @@ - + + @@ -103,13 +104,14 @@ - + + @@ -120,16 +122,19 @@ + + - - + + + @@ -247,6 +252,8 @@ + + @@ -255,6 +262,8 @@ + + @@ -265,14 +274,27 @@ + + + + + + + + + + + + + From c55269ba6ca9f14921bf59cc7a0a7326ea505bbf Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 29 Jun 2018 09:54:13 +0200 Subject: [PATCH 10/18] change joint limit make same as urdf and depedancy on trackit --- .../raw3-1/moveit/config/joint_limits.yaml | 46 ++++++++----------- .../raw3-1/moveit/config/kinematics.yaml | 4 +- 2 files changed, 20 insertions(+), 30 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml index eb39c9728..a196e3c98 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml @@ -4,41 +4,31 @@ joint_limits: arm_elbow_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_shoulder_lift_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_shoulder_pan_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_1_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_2_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 arm_wrist_3_joint: has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - torso_pan_joint: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 - torso_tilt_joint: - has_velocity_limits: true - max_velocity: 1.0 - has_acceleration_limits: true - max_acceleration: 1.0 + max_velocity: 2 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml index 7a980f767..c84862117 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml @@ -1,5 +1,5 @@ arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 5 + kinematics_solver_timeout: 0.005 kinematics_solver_attempts: 3 \ No newline at end of file From 667f9dffb74b73d13ea2d5debe8b17e07680264e Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Fri, 29 Jun 2018 09:54:35 +0200 Subject: [PATCH 11/18] add schmaz gripper --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 56 +++++++++---------- 1 file changed, 26 insertions(+), 30 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index 27685bdc1..e8dde171b 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -18,13 +18,6 @@ - - - - - @@ -55,18 +48,18 @@ - - + + @@ -97,19 +90,6 @@ - - - - - - - - - - - - - @@ -124,13 +104,14 @@ - + + @@ -141,16 +122,19 @@ + + - - + + + @@ -231,7 +215,6 @@ - @@ -269,7 +252,8 @@ - + + @@ -278,6 +262,8 @@ + + @@ -288,20 +274,30 @@ + + + + + - - + + + + + + + - + From b4e0da1f106163847cf74ec805d9ee3bd937cff2 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Wed, 4 Jul 2018 16:44:58 +0200 Subject: [PATCH 12/18] add vacume gripper node --- cob_bringup/robots/raw3-1.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml index 0dff1556a..3fc8a598b 100644 --- a/cob_bringup/robots/raw3-1.xml +++ b/cob_bringup/robots/raw3-1.xml @@ -67,6 +67,8 @@ + + From 4c63cf5720466fe9e3fa9237dda1d7b2f6823223 Mon Sep 17 00:00:00 2001 From: Richard Bormann Date: Wed, 4 Jul 2018 16:45:23 +0200 Subject: [PATCH 13/18] correct stomp configurations --- cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml index 5d910c4c7..654969881 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml @@ -11,7 +11,7 @@ stomp/arm: task: noise_generator: - class: stomp_moveit/NormalDistributionSampling - stddev: [0.3, 1.0, 0.5, 0.4, 0.3, 0.3] + stddev: [0.1, 0.1, 0.3, 0.1, 0.1, 0.1] #[0.3, 1.0, 0.5, 0.4, 0.3, 0.3] cost_functions: - class: stomp_moveit/ObstacleDistanceGradient max_distance: 0.2 From d7ef2df063c88b2f144fe03af3ef3d8c1b7ad04d Mon Sep 17 00:00:00 2001 From: Mayank Patel Date: Tue, 21 Aug 2018 10:24:14 +0200 Subject: [PATCH 14/18] add schmaltz gripper --- .../raw3-1/urdf/calibration_default.urdf.xacro | 8 ++++++++ .../robots/raw3-1/urdf/properties.urdf.xacro | 9 +++++++++ .../robots/raw3-1/urdf/raw3-1.urdf.xacro | 12 ++++++++++-- 3 files changed, 27 insertions(+), 2 deletions(-) diff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro index 8ddffadc7..cf423666e 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro @@ -98,4 +98,12 @@ + + + + + + + + diff --git a/cob_hardware_config/robots/raw3-1/urdf/properties.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/properties.urdf.xacro index 96173c827..d84a6167f 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/properties.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/properties.urdf.xacro @@ -100,4 +100,13 @@ + + + + + + + + + diff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro index 2362e469a..702d9a899 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro @@ -20,8 +20,11 @@ - - + + + + + @@ -54,4 +57,9 @@ + + + + + From de1f2c843e7b36038ddbf82345be1e7091985fef Mon Sep 17 00:00:00 2001 From: Mayank Patel Date: Tue, 21 Aug 2018 10:31:44 +0200 Subject: [PATCH 15/18] change to kdl --- .../moveit/config/constraints_limit.yaml | 90 ------------------- .../raw3-1/moveit/config/kinematics.yaml | 4 +- .../raw3-1/moveit/config/stomp_config.yaml | 38 -------- .../raw3-1/moveit/config/stomp_planning.yaml | 49 ---------- 4 files changed, 2 insertions(+), 179 deletions(-) delete mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml delete mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml delete mode 100644 cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml deleted file mode 100644 index e995a0f06..000000000 --- a/cob_moveit_config/robots/raw3-1/moveit/config/constraints_limit.yaml +++ /dev/null @@ -1,90 +0,0 @@ - -################################## -#joint constraint -################################## - -joint_constraint_limits: -# arm_elbow_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_shoulder_lift_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 - arm_shoulder_pan_joint: - center_position: -0.675 - tolerance_above: 0.830 - tolerance_below: 1.05 - arm_wrist_1_joint: - center_position: -3.14 - tolerance_above: 1.57 - tolerance_below: 3.14 - arm_wrist_2_joint: - center_position: -1.5 - tolerance_above: 1.03 - tolerance_below: 1.15 -# arm_wrist_3_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 - -################################## -#position constraint --> check what required -################################## - -#position_constraint_limits: -# arm_elbow_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_shoulder_lift_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_shoulder_pan_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_wrist_1_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_wrist_2_joint: -# center_position: -1.5 -# tolerance_above: 0.7652 -# tolerance_below: 1.15 -# arm_wrist_3_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 - -################################## -#orientation constraint --> check what required -################################## - -#joint_constraint_limits: -# arm_elbow_joint: -# center_position: -0.675 -# tolerance_above: 0.785 -# tolerance_below: 1.05 -# arm_shoulder_lift_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_shoulder_pan_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 -# arm_wrist_1_joint: -# center_position: -3.14 -# tolerance_above: 1.57 -# tolerance_below: 3.14 -# arm_wrist_2_joint: -# center_position: -1.5 -# tolerance_above: 0.7652 -# tolerance_below: 1.15 -# arm_wrist_3_joint: -# center_position: 0 -# tolerance_above: 0 -# tolerance_below: 0 diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml index c84862117..7a980f767 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml +++ b/cob_moveit_config/robots/raw3-1/moveit/config/kinematics.yaml @@ -1,5 +1,5 @@ arm: - kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 5 kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml deleted file mode 100644 index 654969881..000000000 --- a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_config.yaml +++ /dev/null @@ -1,38 +0,0 @@ -stomp/arm: - group_name: arm - optimization: - num_timesteps: 20 - num_iterations: 50 - num_iterations_after_valid: 0 - num_rollouts: 10 - max_rollouts: 100 - 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: [0.1, 0.1, 0.3, 0.1, 0.1, 0.1] #[0.3, 1.0, 0.5, 0.4, 0.3, 0.3] - cost_functions: - - class: stomp_moveit/ObstacleDistanceGradient - max_distance: 0.2 - cost_weight: 1.0 - 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: [0, 255, 0] - marker_array_topic: stomp_trajectories - marker_namespace: noisy - update_filters: - - class: stomp_moveit/ControlCostProjectionMatrix - - class: stomp_moveit/TrajectoryVisualization - line_width: 0.02 - rgb: [191, 0, 255] - error_rgb: [255, 0, 0] - publish_intermediate: True - marker_topic: stomp_trajectory - marker_namespace: optimized - diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml b/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml deleted file mode 100644 index b8c96e28a..000000000 --- a/cob_moveit_config/robots/raw3-1/moveit/config/stomp_planning.yaml +++ /dev/null @@ -1,49 +0,0 @@ -# Optimization Task -num_feature_basis_functions: 1 -trajectory_duration: 8.0 -num_time_steps: 30 -publish_trajectory_markers: False -publish_best_trajectory_marker: True - - -# STOMP -max_iterations: 10 -max_iterations_after_collision_free: 1 -max_rollouts: 100 -min_rollouts: 30 -num_rollouts_per_iteration: 10 -start_state_max_bounds_error: 1.0 -start_state_max_dt: 2.0 - -# STOMP (optional) -use_noise_adaptation: true -write_to_file: false -use_openmp: false - -noise_coefficients: - - group_name: arm - stddev: [0.3, 1.0, 1.0, 0.8, 0.3, 0.3, 0.3] - min_stddev: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] - decay: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8] - - group_name: robot - stddev: [1.2, 1.0, 1.0, 0.8, 0.3, 0.3] - min_stddev: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] - decay: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8] - -features: -- class: stomp_moveit_interface/ObstacleAvoidanceFeature - collision_clearance: 0.02 -#- class: stomp_moveit_interface/CollisionFeature -# report_validity: false # report state validity based on distance field -# collision_clearance: 0.02 -# debug_collisions: false -# collision_space: -# size_x: 8.5 # The X dimension in meters of the volume to represent -# size_y: 6.0 # The Y dimension in meters of the volume to represent -# size_z: 4.0 # The Z dimension in meters of the volume to represent -# origin_x: 0.0 -# origin_y: 0.0 -# origin_z: 1.5 -# resolution: 0.03 -# collision_tolerance: 0.01 -# max_propagation_distance: 0.1 From c1a31080614ea5e472905491f8e02092f099cc4f Mon Sep 17 00:00:00 2001 From: Mayank Patel Date: Tue, 21 Aug 2018 17:03:24 +0200 Subject: [PATCH 16/18] change srdf from new schmaltz gripper --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 45 ++++++++++--------- 1 file changed, 25 insertions(+), 20 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index e8dde171b..8525c3da2 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -18,7 +18,8 @@ - + + @@ -26,7 +27,6 @@ - @@ -48,17 +48,29 @@ + + + + + + + + + + + + + - - + @@ -104,36 +116,36 @@ + - - + - - + + + - - + @@ -252,7 +264,6 @@ - @@ -262,7 +273,6 @@ - @@ -279,19 +289,14 @@ - - + - - - - - - + + From 68f57e61e4302926b6f65502216fd7eae1e985c9 Mon Sep 17 00:00:00 2001 From: ipa-mjp Date: Thu, 13 Sep 2018 12:21:12 +0200 Subject: [PATCH 17/18] add kinematic camera plugin --- .../robots/raw3-1/urdf/calibration_default.urdf.xacro | 6 +++--- cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro | 8 ++++---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro index cf423666e..d618d04a9 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro @@ -99,11 +99,11 @@ - + - - + + diff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro index 702d9a899..3a6fc05f6 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro @@ -24,7 +24,7 @@ - + @@ -57,9 +57,9 @@ - + - - + + From 418b3e3b3f60dde0d2db11a1908e398ff05628a5 Mon Sep 17 00:00:00 2001 From: ipa-mjp Date: Thu, 13 Sep 2018 12:42:39 +0200 Subject: [PATCH 18/18] change srdf for new configuration --- .../robots/raw3-1/moveit/config/raw3-1.srdf | 31 ++++++++++++++----- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf index 8525c3da2..b92d5e763 100644 --- a/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf +++ b/cob_moveit_config/robots/raw3-1/moveit/config/raw3-1.srdf @@ -18,8 +18,7 @@ - - + @@ -27,6 +26,7 @@ + @@ -48,12 +48,29 @@ + + + + + + + + + + + + + + + + + @@ -67,7 +84,6 @@ - @@ -116,7 +132,6 @@ - @@ -127,7 +142,7 @@ - + @@ -139,10 +154,8 @@ - - @@ -227,6 +240,7 @@ + @@ -264,6 +278,7 @@ + @@ -292,10 +307,10 @@ + -