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MikeWrockMikeWrock
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Merge pull request #84 from PickNikRobotics/add-trajectory-stitching-example
Add trajectory stitching demo objective Former-commit-id: 13d0f1a
2 parents b671854 + 49f487a commit 89aa566

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‎src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml‎

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- "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
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- "moveit_studio::behaviors::ServoBehaviorsLoader"
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- "moveit_studio::behaviors::VisionBehaviorsLoader"
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- "moveit_studio::behaviors::ConverterBehaviorsLoader"
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# Specify source folder for objectives
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# [Required]
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objective_library_paths:

‎src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/admittance_parameters_no_admittance.yaml‎

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SetAdmittanceParameters:
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admittance:
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damping_ratio_position:
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max: 1000
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min: 0
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x: 1000
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y: 1000
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z: 650
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damping_ratio_rotation:
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max: 1000
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min: 0
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x: 40
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y: 40
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z: 40
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joint_damping:
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max: 100
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min: 0
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value: 1
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mass_position:
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max: 100
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min: 0.001
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x: 40
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y: 40
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z: 10
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mass_rotation:
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max: 100
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min: 0.001
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x: 4
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y: 4
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z: 4
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selected_axes:
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rx: false
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ry: false
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rz: false
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x: false
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y: false
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z: false
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stiffness_position:
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max: 1000
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min: 0
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x: 120
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y: 120
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z: 300
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stiffness_rotation:
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max: 1000
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min: 0
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x: 80
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y: 80
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z: 80
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base_frame: base_link
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control_frame: grasp_link
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controller_name: ''
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end_effector_frame: grasp_link

‎src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/demo_trajectory_stitching.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Demo Trajectory Stitching">
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<!--//////////-->
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<BehaviorTree
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ID="Demo Trajectory Stitching"
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_description="Take a pointcloud snapshot of the scene with a depth camera"
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_favorite="false"
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_subtreeOnly="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree
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ID="Move to Waypoint"
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_collapsed="true"
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joint_group_name="manipulator"
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planner_interface="moveit_default"
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controller_names="/joint_trajectory_controller"
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waypoint_name="Home"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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velocity_scale_factor="1.0"
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/>
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<Action
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ID="GetCurrentPlanningScene"
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planning_scene_msg="{planning_scene}"
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/>
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<Action
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ID="GetRobotJointState"
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planning_group_name="manipulator"
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planning_scene="{planning_scene}"
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joint_state="{start_joint_state}"
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/>
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<Action
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ID="UnpackJointStateMessage"
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joint_state="{start_joint_state}"
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effort="{start_effort}"
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header="{start_header}"
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name_="{joint_names}"
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position="{start_position}"
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velocity="{start_velocity}"
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/>
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<Action
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ID="CreateJointState"
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joint_state_msg="{start_state}"
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positions="{start_position}"
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joint_names="{joint_names}"
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velocities="{start_velocity}"
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/>
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<Action
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ID="CreateJointState"
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positions="0.5;0.51;-3.025;-2.31;0.2;1.159;1.37"
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joint_names="{joint_names}"
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joint_state_msg="{target_state}"
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velocities="0.0;0.0;0.0;0.0;0.0;0.0;0.0"
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/>
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<Action
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ID="GetRobotJointState"
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planning_group_name="manipulator"
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planning_scene="{planning_scene}"
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joint_state="{joint_state}"
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/>
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<Action
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ID="CreateJointState"
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positions="-0.5;-0.51;-3.025;-2.31;0.2;1.159;1.37"
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joint_names="{joint_names}"
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joint_state_msg="{stitch_target_state}"
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velocities="0.0;0.0;0.0;0.0;0.0;0.0;0.0"
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/>
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<Action
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ID="GeneratePointToPointTrajectory"
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jerk_scale_factor="0.5"
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velocity_scale_factor="1.0"
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acceleration_scale_factor="1.0"
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planning_group_name="manipulator"
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start_state="{start_state}"
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start_time="0.000000"
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target_state="{target_state}"
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trajectory_sampling_rate="100"
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joint_trajectory_msg="{joint_trajectory_msg}"
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/>
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<Action
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ID="GetTrajectoryStateAtTime"
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time_from_reference="0.8"
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joint_state="{stitch_state}"
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from_start="true"
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joint_trajectory_msg="{joint_trajectory_msg}"
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/>
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<Action
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ID="GeneratePointToPointTrajectory"
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start_state="{stitch_state}"
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target_state="{stitch_target_state}"
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joint_trajectory_msg="{stitch_joint_trajectory_msg}"
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velocity_scale_factor="1.0"
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start_time="0.8"
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acceleration_scale_factor="1.0"
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jerk_scale_factor="0.5"
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planning_group_name="manipulator"
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trajectory_sampling_rate="100"
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/>
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<Action
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ID="SetAdmittanceParameters"
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config_file_name="admittance_parameters_no_admittance.yaml"
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admittance_parameters_msg="{admittance_parameters_msg}"
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/>
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<Action
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ID="ActivateControllers"
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controller_names="/joint_trajectory_admittance_controller"
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/>
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<Control ID="Parallel" failure_count="2" success_count="1">
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<Action
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ID="ExecuteTrajectoryWithAdmittance"
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path_position_tolerance="0.2"
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absolute_force_torque_threshold="45;45;45;10;10;10"
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admittance_parameters_msg="{admittance_parameters_msg}"
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controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
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goal_duration_tolerance="-1.000000"
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goal_position_tolerance="0.001000"
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joint_trajectory_msg="{joint_trajectory_msg}"
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/>
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<Decorator ID="Delay" delay_msec="400">
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<Action
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ID="ExecuteTrajectoryWithAdmittance"
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joint_trajectory_msg="{stitch_joint_trajectory_msg}"
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absolute_force_torque_threshold="45;45;45;10;10;10"
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goal_position_tolerance="0.001000"
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path_position_tolerance="0.2"
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admittance_parameters_msg="{admittance_parameters_msg}"
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controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
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goal_duration_tolerance="-1.000000"
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/>
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</Decorator>
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</Control>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Demo Trajectory Stitching">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - Advanced Examples" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

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