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Schmalz gripper #766

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Schmalz gripper #766

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3ef6d06
changed group name/joints for raw3-1
ipa-rmb Nov 7, 2017
40994b2
add joint constraints
ipa-rmb Feb 2, 2018
458b6e8
stomp configuration file
ipa-rmb Feb 2, 2018
2ad869b
add stomp planning
ipa-rmb Feb 2, 2018
2ceea7b
replaced spelling mistake
ipa-rmb May 3, 2018
06a0203
Merge branch 'indigo_dev' of https://github.com/ipa320/cob_robots int…
HavyaPatel May 7, 2018
ce897ab
Merge branch 'indigo_dev' of https://github.com/ipa320/cob_robots int…
HavyaPatel May 8, 2018
dd5a934
Merge branch 'indigo_dev' of https://github.com/ipa-mjp/cob_robots in…
HavyaPatel May 8, 2018
dc5a582
moveit config file for schmalz gripper
HavyaPatel May 8, 2018
f407106
move group chain till gripper tcp
HavyaPatel May 8, 2018
6947b17
added schmalz vacuum gripper
HavyaPatel May 14, 2018
9c37598
adapt cemera collision
HavyaPatel Jun 29, 2018
c55269b
change joint limit make same as urdf and depedancy on trackit
ipa-rmb Jun 29, 2018
667f9df
add schmaz gripper
ipa-rmb Jun 29, 2018
ab4359f
Merge branch 'robwork_demo' of https://github.com/ipa-mjp/cob_robots …
ipa-rmb Jul 2, 2018
b4e0da1
add vacume gripper node
ipa-rmb Jul 4, 2018
4c63cf5
correct stomp configurations
ipa-rmb Jul 4, 2018
d7ef2df
add schmaltz gripper
HavyaPatel Aug 21, 2018
a9e5159
Merge branch 'schmalz_gripper' of https://github.com/ipa-mjp/cob_robo…
HavyaPatel Aug 21, 2018
b9aefcd
Merge branch 'indigo_dev' of https://github.com/ipa320/cob_robots int…
HavyaPatel Aug 21, 2018
de1f2c8
change to kdl
HavyaPatel Aug 21, 2018
c1a3108
change srdf from new schmaltz gripper
HavyaPatel Aug 21, 2018
68f57e6
add kinematic camera plugin
HavyaPatel Sep 13, 2018
418b3e3
change srdf for new configuration
HavyaPatel Sep 13, 2018
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2 changes: 2 additions & 0 deletions cob_bringup/robots/raw3-1.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,8 @@
<arg name="sim" value="$(arg sim)"/>
<arg if="$(arg sim)" name="cartesian_control" value="false"/>
</include>
<!-- Schmalz CobotPump driver -->
<include file="$(find schmalz_ecbpi)/launch/schmalz_ecbpi_server.launch" />
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is this package released?
it also needs to be added to package.xml

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schmalz_ecbpi is not released yet. It available only in my git public repo. Should I need to release?

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This the link for schmalz gripper driver: https://github.com/ipa-mjp/schmalz_ecbpi


<!-- start common nodes used in hardware and simulation -->
<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
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8 changes: 8 additions & 0 deletions cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro
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Expand Up @@ -98,4 +98,12 @@
<xacro:property name="def_cam3d_pitch" value="0.0"/>
<xacro:property name="def_cam3d_yaw" value="0.0"/>

<!-- arm camera | handeye calibration | relative to cam_reference_link -->
<xacro:property name="def_arm_camera_x" value="0.00"/>
<xacro:property name="def_arm_camera_y" value="0.0"/>
<xacro:property name="def_arm_camera_z" value="0.0"/>
<xacro:property name="def_arm_camera_roll" value="0.0"/>
<xacro:property name="def_arm_camera_pitch" value="0.0"/>
<xacro:property name="def_arm_camera_yaw" value="0.0"/>

</robot>
9 changes: 9 additions & 0 deletions cob_hardware_config/robots/raw3-1/urdf/properties.urdf.xacro
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Expand Up @@ -100,4 +100,13 @@
<xacro:property name="cam3d_roll" value="${def_cam3d_roll+offset_cam3d_roll}"/>
<xacro:property name="cam3d_pitch" value="${def_cam3d_pitch+offset_cam3d_pitch}"/>
<xacro:property name="cam3d_yaw" value="${def_cam3d_yaw+offset_cam3d_yaw}"/>

<!-- arm camera | handeye calibration | relative to cam_reference_link -->
<xacro:property name="arm_camera_x" value="${def_arm_camera_x}"/>
<xacro:property name="arm_camera_y" value="${def_arm_camera_y}"/>
<xacro:property name="arm_camera_z" value="${def_arm_camera_z}"/>
<xacro:property name="arm_camera_roll" value="${def_arm_camera_roll}"/>
<xacro:property name="arm_camera_pitch" value="${def_arm_camera_pitch}"/>
<xacro:property name="arm_camera_yaw" value="${def_arm_camera_yaw}"/>

</robot>
12 changes: 10 additions & 2 deletions cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro
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Expand Up @@ -20,8 +20,11 @@
<!-- ur_arm -->
<xacro:include filename="$(find raw_description)/urdf/ur_arm/ur10_arm.urdf.xacro" />

<!-- vacuum gripper -->
<xacro:include filename="$(find raw_description)/urdf/vacuum_gripper/gripper.urdf.xacro" />
<!-- schmaltz vacuum gripper -->
<xacro:include filename="$(find raw_description)/urdf/schmaltz_gripper/gripper.urdf.xacro" />
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needs https://github.com/ipa320/cob_common/pull/255


<!-- arm camera -->
<xacro:include filename="$(find raw_description)/urdf/arm_camera/arm_camera.urdf.xacro" />

<!-- sensors -->
<xacro:include filename="$(find cob_description)/urdf/sensors/sick_s300_laser.urdf.xacro"/>
Expand Down Expand Up @@ -54,4 +57,9 @@
<origin xyz="${gripper_x} ${gripper_y} ${gripper_z}" rpy="${gripper_roll} ${gripper_pitch} ${gripper_yaw}" />
</xacro:vacuum_gripper>

<xacro:arm_camera name="arm_camera" parent="gripper_coupling_link">
<origin xyz="${arm_camera_x} ${arm_camera_y} ${arm_camera_z}" rpy="${arm_camera_roll} ${arm_camera_pitch} ${arm_camera_yaw}" />
</xacro:arm_camera>


</robot>
46 changes: 18 additions & 28 deletions cob_moveit_config/robots/raw3-1/moveit/config/joint_limits.yaml
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Expand Up @@ -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
4 changes: 2 additions & 2 deletions cob_moveit_config/robots/raw3-1/moveit/config/ompl_planning.yaml
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Expand Up @@ -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
Expand Down Expand Up @@ -64,4 +64,4 @@ arm:
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- PRMstarkConfigDefault
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