From 308871b96eccad22f121bad84e81ced6c4c26c1f Mon Sep 17 00:00:00 2001
From: mike <mikeblautman@gmail.com>
Date: Tue, 20 Feb 2018 11:47:10 -0700
Subject: [PATCH] updating with setup assistant to match tutorials
---
.setup_assistant | 2 +-
config/fake_controllers.yaml | 4 ++--
config/kinematics.yaml | 2 +-
config/ompl_planning.yaml | 4 ++--
config/panda.srdf | 15 ++++++++-------
5 files changed, 14 insertions(+), 13 deletions(-)
diff --git a/.setup_assistant b/.setup_assistant
index fae359d..59eb125 100644
--- a/.setup_assistant
+++ b/.setup_assistant
@@ -7,4 +7,4 @@ moveit_setup_assistant_config:
CONFIG:
author_name: Mike Lautman
author_email: mike@picknik.ai
- generated_timestamp: 1517966279
\ No newline at end of file
+ generated_timestamp: 1519152260
\ No newline at end of file
diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml
index 6a772d4..d1415c2 100644
--- a/config/fake_controllers.yaml
+++ b/config/fake_controllers.yaml
@@ -1,5 +1,5 @@
controller_list:
- - name: fake_arm_controller
+ - name: fake_panda_arm_controller
joints:
- panda_joint1
- panda_joint2
@@ -8,7 +8,7 @@ controller_list:
- panda_joint5
- panda_joint6
- panda_joint7
- - name: fake_gripper_controller
+ - name: fake_hand_controller
joints:
- panda_finger_joint1
- panda_finger_joint2
\ No newline at end of file
diff --git a/config/kinematics.yaml b/config/kinematics.yaml
index a1f17d0..aa34b98 100644
--- a/config/kinematics.yaml
+++ b/config/kinematics.yaml
@@ -1,4 +1,4 @@
-arm:
+panda_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml
index c4eea41..15ad2fd 100644
--- a/config/ompl_planning.yaml
+++ b/config/ompl_planning.yaml
@@ -120,7 +120,7 @@ planner_configs:
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
-arm:
+panda_arm:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
@@ -145,7 +145,7 @@ arm:
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
-gripper:
+hand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
diff --git a/config/panda.srdf b/config/panda.srdf
index daf39b3..43b6c14 100644
--- a/config/panda.srdf
+++ b/config/panda.srdf
@@ -9,7 +9,7 @@
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
- <group name="arm">
+ <group name="panda_arm">
<joint name="virtual_joint" />
<joint name="panda_joint1" />
<joint name="panda_joint2" />
@@ -20,23 +20,23 @@
<joint name="panda_joint7" />
<joint name="panda_joint8" />
</group>
- <group name="gripper">
+ <group name="hand">
<link name="panda_hand" />
<link name="panda_leftfinger" />
<link name="panda_rightfinger" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="home" group="arm">
+ <group_state name="home" group="panda_arm">
<joint name="panda_joint1" value="0" />
<joint name="panda_joint2" value="0" />
- <joint name="panda_joint3" value="-0" />
+ <joint name="panda_joint3" value="0" />
<joint name="panda_joint4" value="0" />
<joint name="panda_joint5" value="0" />
- <joint name="panda_joint6" value="3.1415" />
- <joint name="panda_joint7" value="-0.7853" />
+ <joint name="panda_joint6" value="3.1416" />
+ <joint name="panda_joint7" value="1.5708" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="eef" parent_link="panda_link8" group="gripper" />
+ <end_effector name="hand" parent_link="panda_link8" group="hand" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
@@ -61,6 +61,7 @@
<disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
<disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
<disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
--
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