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Updates to franka_dual_arm_sim, add sorting benchmark, add stationary admittance demo in lab_sim #419
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Updates to franka_dual_arm_sim, add sorting benchmark, add stationary admittance demo in lab_sim #419
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1439d13
updates to scene and adding Objectives
marioprats 0dc4a75
clean up stationary admittance demo
marioprats 0dea9ee
Replace 'Admittance Demo' with 'Stationary Admittance'
marioprats 13a4818
consolidate into 'Sort Blocks'
marioprats 7c02a6d
rename box -> table
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Stationary Admittance"> | ||
| <!--//////////--> | ||
| <BehaviorTree | ||
| ID="Stationary Admittance" | ||
| _description="Puts the arm into Cartesian admittance mode" | ||
| _favorite="false" | ||
| > | ||
| <Control ID="Sequence" name="TopLevelSequence"> | ||
| <SubTree | ||
| ID="Move to Waypoint" | ||
| _collapsed="true" | ||
| controller_names="joint_trajectory_controller" | ||
| planner_interface="moveit_default" | ||
| waypoint_name="Home" | ||
| acceleration_scale_factor="1.0" | ||
| controller_action_server="/joint_trajectory_controller/follow_joint_trajectory" | ||
| keep_orientation="false" | ||
| keep_orientation_tolerance="0.05" | ||
| link_padding="0.01" | ||
| seed="0" | ||
| velocity_scale_factor="1.0" | ||
| joint_group_name="manipulator" | ||
| /> | ||
| <Action | ||
| ID="SwitchController" | ||
| activate_asap="true" | ||
| automatic_deactivation="true" | ||
| controller_list_action_name="/controller_manager/list_controllers" | ||
| controller_switch_action_name="/controller_manager/switch_controller" | ||
| strictness="1" | ||
| timeout="-1.000000" | ||
| activate_controllers="joint_trajectory_admittance_controller" | ||
| /> | ||
| <Decorator ID="Delay" delay_msec="2000"> | ||
| <Action | ||
| ID="CallTriggerService" | ||
| response_timeout="3.000000" | ||
| service_name="/joint_trajectory_admittance_controller/zero_fts/tool0" | ||
| wait_for_server_available_timeout="3.000000" | ||
| /> | ||
| </Decorator> | ||
| <Action | ||
| ID="SetAdmittanceParameters" | ||
| config_file_name="stationary_admittance.yaml" | ||
| admittance_parameters_msg="{admittance_parameters_msg}" | ||
| /> | ||
| <Action | ||
| ID="GetCurrentPlanningScene" | ||
| planning_scene_msg="{planning_scene}" | ||
| /> | ||
| <Action | ||
| ID="GetRobotJointState" | ||
| joint_state="{joint_state}" | ||
| planning_scene="{planning_scene}" | ||
| planning_group_name="manipulator" | ||
| /> | ||
| <Action | ||
| ID="CreateStationaryTrajectory" | ||
| joint_state="{joint_state}" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| trajectory_duration="10" | ||
| /> | ||
| <Action | ||
| ID="LogMessage" | ||
| log_level="info" | ||
| message="Running admittance mode for 10 seconds" | ||
| /> | ||
| <Action | ||
| ID="ExecuteTrajectoryWithAdmittance" | ||
| goal_position_tolerance="10;10;10;10;10;10;10;" | ||
| path_position_tolerance="10;10;10;10;10;10;10" | ||
| admittance_parameters_msg="{admittance_parameters_msg}" | ||
| absolute_force_torque_threshold="45;45;45;10;10;10" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| goal_duration_tolerance="-1.000000" | ||
| controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory" | ||
| /> | ||
| </Control> | ||
| </BehaviorTree> | ||
| <TreeNodesModel> | ||
| <SubTree ID="Stationary Admittance"> | ||
| <MetadataFields> | ||
| <Metadata runnable="true" /> | ||
| <Metadata subcategory="Application - Advanced Examples" /> | ||
| </MetadataFields> | ||
| </SubTree> | ||
| </TreeNodesModel> | ||
| </root> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| SetAdmittanceParameters: | ||
| admittance: | ||
| damping_ratio_position: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 160 | ||
| y: 160 | ||
| z: 160 | ||
| damping_ratio_rotation: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| joint_damping: | ||
| max: 1000 | ||
| min: 0 | ||
| value: 1 | ||
| mass_position: | ||
| max: 1000 | ||
| min: 0.001 | ||
| x: 4 | ||
| y: 4 | ||
| z: 4 | ||
| mass_rotation: | ||
| max: 1000 | ||
| min: 0.001 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| selected_axes: | ||
| rx: true | ||
| ry: true | ||
| rz: true | ||
| x: true | ||
| y: true | ||
| z: true | ||
| stiffness_position: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 40 | ||
| y: 40 | ||
| z: 40 | ||
| stiffness_rotation: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| base_frame: base_link | ||
| control_frame: grasp_link | ||
| controller_name: '' | ||
| end_effector_frame: grasp_link | ||
| admittance: | ||
| damping_ratio_position: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 160 | ||
| y: 160 | ||
| z: 80 | ||
| damping_ratio_rotation: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| joint_damping: | ||
| max: 1000 | ||
| min: 0 | ||
| value: 1 | ||
| mass_position: | ||
| max: 1000 | ||
| min: 0.001 | ||
| x: 4 | ||
| y: 4 | ||
| z: 4 | ||
| mass_rotation: | ||
| max: 1000 | ||
| min: 0.001 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| selected_axes: | ||
| rx: true | ||
| ry: true | ||
| rz: true | ||
| x: true | ||
| y: true | ||
| z: true | ||
| stiffness_position: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 40 | ||
| y: 40 | ||
| z: 40 | ||
| stiffness_rotation: | ||
| max: 1000 | ||
| min: 0 | ||
| x: 1 | ||
| y: 1 | ||
| z: 1 | ||
| base_frame: base_link | ||
| control_frame: grasp_link | ||
| controller_name: '' | ||
| end_effector_frame: grasp_link |
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