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mariopratsmarioprats
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some fixes after testing
1 parent 23e52b1 commit db2bcdf

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7 files changed

+43
-67
lines changed

7 files changed

+43
-67
lines changed

‎src/lab_sim/objectives/constrained_pick_and_place_subtree.xml‎

Lines changed: 12 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -10,17 +10,6 @@
1010
_description=""
1111
>
1212
<Control ID="Sequence">
13-
<!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
14-
<Action
15-
ID="InitializeMotionConstraints"
16-
constraints_name="gripper pointing down"
17-
constraints="{constraints}"
18-
/>
19-
<Action
20-
ID="AppendOrientationConstraint"
21-
config_file_name="my_constraints.yaml"
22-
constraints="{constraints}"
23-
/>
2413
<!--Move to pick location-->
2514
<!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
2615
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -30,7 +19,8 @@
3019
joint_group_name="manipulator"
3120
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
3221
planner_interface="moveit_default"
33-
constraints="{constraints}"
22+
keep_orientation="true"
23+
keep_orientation_tolerance="0.2"
3424
/>
3525
</Decorator>
3626
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -40,7 +30,8 @@
4030
joint_group_name="manipulator"
4131
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
4232
planner_interface="moveit_default"
43-
constraints="{constraints}"
33+
keep_orientation="true"
34+
keep_orientation_tolerance="0.2"
4435
/>
4536
</Decorator>
4637
<!--We force success as the gripper closes, since we are commanding a position it will never reach (fingers fully closed)-->
@@ -54,7 +45,8 @@
5445
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
5546
joint_group_name="manipulator"
5647
planner_interface="moveit_default"
57-
constraints="{constraints}"
48+
keep_orientation="true"
49+
keep_orientation_tolerance="0.2"
5850
_collapsed="true"
5951
waypoint_name="{pre_pick}"
6052
/>
@@ -65,7 +57,8 @@
6557
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
6658
joint_group_name="manipulator"
6759
planner_interface="moveit_default"
68-
constraints="{constraints}"
60+
keep_orientation="true"
61+
keep_orientation_tolerance="0.2"
6962
_collapsed="true"
7063
waypoint_name="{pre_place}"
7164
/>
@@ -76,7 +69,8 @@
7669
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
7770
joint_group_name="manipulator"
7871
planner_interface="moveit_default"
79-
constraints="{constraints}"
72+
keep_orientation="true"
73+
keep_orientation_tolerance="0.2"
8074
_collapsed="true"
8175
waypoint_name="{place}"
8276
/>
@@ -88,7 +82,8 @@
8882
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
8983
joint_group_name="manipulator"
9084
planner_interface="moveit_default"
91-
constraints="{constraints}"
85+
keep_orientation="true"
86+
keep_orientation_tolerance="0.2"
9287
_collapsed="true"
9388
waypoint_name="{pre_place}"
9489
/>

‎src/lab_sim/objectives/constrained_pick_place.xml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -11,14 +11,12 @@
1111
<SubTree
1212
ID="Move to Waypoint"
1313
_collapsed="true"
14-
constraints="{constraints}"
1514
waypoint_name="Beaker 1a - Pre Pick"
1615
joint_group_name="manipulator"
1716
controller_names="/joint_trajectory_controller"
1817
velocity_scale_factor="1.0"
1918
acceleration_scale_factor="1.0"
2019
link_padding="0.01"
21-
keep_orientation_tolerance="0.05"
2220
keep_orientation="false"
2321
/>
2422
<SubTree ID="Open Gripper" />

‎src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/constrained_pick_place.xml‎

Lines changed: 2 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -8,16 +8,6 @@
88
>
99
<Decorator ID="KeepRunningUntilFailure">
1010
<Control ID="Sequence">
11-
<Action
12-
ID="InitializeMotionConstraints"
13-
constraints_name="gripper pointing down"
14-
constraints="{constraints}"
15-
/>
16-
<Action
17-
ID="AppendOrientationConstraint"
18-
config_file_name="my_constraints.yaml"
19-
constraints="{constraints}"
20-
/>
2111
<Control ID="Sequence" name="TopLevelSequence">
2212
<SubTree ID="Open Gripper" />
2313
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -35,7 +25,8 @@
3525
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
3626
joint_group_name="manipulator"
3727
waypoint_name="Grasp Left"
38-
constraints="{constraints}"
28+
keep_orientation="true"
29+
keep_orientation_tolerance="0.2"
3930
/>
4031
</Decorator>
4132
</Control>

‎src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -230,4 +230,6 @@
230230
<disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_2_link" reason="Adjacent"/>
231231
<disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_3_link" reason="Never"/>
232232
<disable_collisions link1="ur_arm_wrist_2_link" link2="ur_arm_wrist_3_link" reason="Adjacent"/>
233+
<disable_collisions link1="base_link_inertia" link2="riser_link" reason="Never"/>
234+
<disable_collisions link1="base_link_inertia" link2="chassis_link" reason="Never"/>
233235
</robot>

‎src/moveit_pro_ur_configs/arm_on_rail_sim/objectives/constrained_pick_place.xml‎

Lines changed: 20 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -17,17 +17,6 @@
1717
<SubTree ID="Open Gripper" />
1818
<Decorator ID="KeepRunningUntilFailure">
1919
<Control ID="Sequence">
20-
<!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
21-
<Action
22-
ID="InitializeMotionConstraints"
23-
constraints_name="gripper pointing down"
24-
constraints="{constraints}"
25-
/>
26-
<Action
27-
ID="AppendOrientationConstraint"
28-
config_file_name="my_constraints.yaml"
29-
constraints="{constraints}"
30-
/>
3120
<!--Move to pick location-->
3221
<!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
3322
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -36,7 +25,8 @@
3625
waypoint_name="Above Pick Cube"
3726
joint_group_name="manipulator"
3827
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
39-
constraints="{constraints}"
28+
keep_orientation="true"
29+
keep_orientation_tolerance="0.2"
4030
/>
4131
</Decorator>
4232
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
@@ -45,7 +35,8 @@
4535
waypoint_name="Pick Cube"
4636
joint_group_name="manipulator"
4737
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
48-
constraints="{constraints}"
38+
keep_orientation="true"
39+
keep_orientation_tolerance="0.2"
4940
/>
5041
</Decorator>
5142
<!--Pick-->
@@ -56,7 +47,8 @@
5647
ID="Move to Waypoint"
5748
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
5849
joint_group_name="manipulator"
59-
constraints="{constraints}"
50+
keep_orientation="true"
51+
keep_orientation_tolerance="0.2"
6052
_collapsed="true"
6153
waypoint_name="Above Pick Cube"
6254
/>
@@ -66,7 +58,8 @@
6658
ID="Move to Waypoint"
6759
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
6860
joint_group_name="manipulator"
69-
constraints="{constraints}"
61+
keep_orientation="true"
62+
keep_orientation_tolerance="0.2"
7063
_collapsed="true"
7164
waypoint_name="Above Place Cube"
7265
/>
@@ -76,7 +69,8 @@
7669
ID="Move to Waypoint"
7770
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
7871
joint_group_name="manipulator"
79-
constraints="{constraints}"
72+
keep_orientation="true"
73+
keep_orientation_tolerance="0.2"
8074
_collapsed="true"
8175
waypoint_name="Place Cube"
8276
/>
@@ -87,7 +81,8 @@
8781
ID="Move to Waypoint"
8882
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
8983
joint_group_name="manipulator"
90-
constraints="{constraints}"
84+
keep_orientation="true"
85+
keep_orientation_tolerance="0.2"
9186
_collapsed="true"
9287
waypoint_name="Above Place Cube"
9388
/>
@@ -97,7 +92,8 @@
9792
ID="Move to Waypoint"
9893
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
9994
joint_group_name="manipulator"
100-
constraints="{constraints}"
95+
keep_orientation="true"
96+
keep_orientation_tolerance="0.2"
10197
_collapsed="true"
10298
waypoint_name="Place Cube"
10399
/>
@@ -108,7 +104,8 @@
108104
ID="Move to Waypoint"
109105
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
110106
joint_group_name="manipulator"
111-
constraints="{constraints}"
107+
keep_orientation="true"
108+
keep_orientation_tolerance="0.2"
112109
_collapsed="true"
113110
waypoint_name="Above Place Cube"
114111
/>
@@ -118,7 +115,8 @@
118115
ID="Move to Waypoint"
119116
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
120117
joint_group_name="manipulator"
121-
constraints="{constraints}"
118+
keep_orientation="true"
119+
keep_orientation_tolerance="0.2"
122120
_collapsed="true"
123121
waypoint_name="Above Pick Cube"
124122
/>
@@ -129,7 +127,8 @@
129127
waypoint_name="Pick Cube"
130128
joint_group_name="manipulator"
131129
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
132-
constraints="{constraints}"
130+
keep_orientation="true"
131+
keep_orientation_tolerance="0.2"
133132
/>
134133
</Decorator>
135134
<SubTree ID="Open Gripper" />

‎src/moveit_pro_ur_configs/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml‎

Lines changed: 5 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -8,17 +8,6 @@
88
>
99
<Decorator ID="KeepRunningUntilFailure">
1010
<Control ID="Sequence">
11-
<!--Create a special type of motion planning configuration that includes an upwards orientation requirement-->
12-
<Action
13-
ID="InitializeMotionConstraints"
14-
constraints_name="gripper pointing down"
15-
constraints="{constraints}"
16-
/>
17-
<Action
18-
ID="AppendOrientationConstraint"
19-
config_file_name="my_constraints.yaml"
20-
constraints="{constraints}"
21-
/>
2211
<!--Move to pick location-->
2312
<SubTree ID="Open Gripper" />
2413
<!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
@@ -27,7 +16,7 @@
2716
ID="Move to Waypoint"
2817
waypoint_name="Grasp Right"
2918
joint_group_name="manipulator"
30-
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
19+
controller_names="/joint_trajectory_controller"
3120
/>
3221
</Decorator>
3322
<!--Pick-->
@@ -36,10 +25,12 @@
3625
<Decorator ID="RetryUntilSuccessful" num_attempts="3">
3726
<SubTree
3827
ID="Move to Waypoint"
39-
controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
28+
controller_names="/joint_trajectory_controller"
4029
joint_group_name="manipulator"
4130
waypoint_name="Grasp Left"
42-
constraints="{constraints}"
31+
link_padding="0.0"
32+
keep_orientation="true"
33+
keep_orientation_tolerance="0.2"
4334
/>
4435
</Decorator>
4536
</Control>

‎src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/objectives/move_two_arms.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616
controller_names="/multi_arm_joint_trajectory_controller"
1717
velocity_scale_factor="1.0"
1818
acceleration_scale_factor="1.0"
19-
link_padding="0.01"
19+
link_padding="0.0"
2020
keep_orientation_tolerance="0.05"
2121
keep_orientation="false"
2222
waypoint_name="Home"
@@ -30,7 +30,7 @@
3030
controller_names="/multi_arm_joint_trajectory_controller"
3131
velocity_scale_factor="1.0"
3232
acceleration_scale_factor="1.0"
33-
link_padding="0.01"
33+
link_padding="0.0"
3434
keep_orientation_tolerance="0.05"
3535
keep_orientation="false"
3636
waypoint_name="Flip"

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