diff --git a/.gitattributes b/.gitattributes index 327679b5d..515418bee 100644 --- a/.gitattributes +++ b/.gitattributes @@ -12,9 +12,9 @@ *.blend filter=lfs diff=lfs merge=lfs -text # Add Git LFS support for large yaml files src/moveit_pro_franka_configs/franka_arm_sim/objectives/moveitpro_loves_franka.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text -src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text +src/moveit_pro_franka_configs/dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text +src/moveit_pro_franka_configs/dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text +src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/CMakeLists.txt b/src/moveit_pro_franka_configs/dual_arm_sim/CMakeLists.txt similarity index 91% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/CMakeLists.txt rename to src/moveit_pro_franka_configs/dual_arm_sim/CMakeLists.txt index 1e4c049b6..eb41ba94f 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/CMakeLists.txt +++ b/src/moveit_pro_franka_configs/dual_arm_sim/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(franka_dual_arm_sim) +project(dual_arm_sim) find_package(ament_cmake REQUIRED) diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/README.md b/src/moveit_pro_franka_configs/dual_arm_sim/README.md similarity index 86% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/README.md rename to src/moveit_pro_franka_configs/dual_arm_sim/README.md index aec39692f..b1aab742d 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/README.md +++ b/src/moveit_pro_franka_configs/dual_arm_sim/README.md @@ -1,4 +1,4 @@ -# franka_dual_arm_sim +# dual_arm_sim A MoveIt Pro base configuration for the Franka arm. For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/). diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/config.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml similarity index 90% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/config.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml index 9994a2745..053cb7da1 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/config.yaml +++ b/src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml @@ -23,10 +23,10 @@ hardware: robot_description: urdf: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "description/franka.urdf.xacro" srdf: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/franka.srdf" # Specify any additional parameters required for the URDF. # Many of these are specific to the UR descriptions packages, and can be customized as needed. @@ -46,31 +46,31 @@ moveit_params: joint_group_name: "manipulator" ompl_planning: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/ompl_planning.yaml" stomp_planning: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/stomp_planning.yaml" kinematics: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_ik_distance.yaml" servo: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/servo.yaml" sensors_3d: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/sensors_3d.yaml" servo_kinematics: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_ik_speed.yaml" joint_limits: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/joint_limits.yaml" servo_joint_limits: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/servo_joint_limits.yaml" pose_jog: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_jog.yaml" publish: @@ -112,18 +112,18 @@ objectives: package_name: "moveit_pro_objectives" relative_path: "objectives/perception" custom_objectives: - package_name: "franka_dual_arm_sim" + package_name: "dual_arm_sim" relative_path: "objectives" # Specify the location of the saved waypoints file. # [Required] waypoints_file: - package_name: "franka_dual_arm_sim" + package_name: "dual_arm_sim" relative_path: "waypoints/waypoints.yaml" # Configuration for launching ros2_control processes. # [Required, if using ros2_control] ros2_control: config: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/control/franka_ros2_control.yaml" # MoveIt Pro will load and activate these controllers at start up to ensure they are available. # If not specified, it is up to the user to ensure the appropriate controllers are active and available diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/control/franka_ros2_control.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/control/franka_ros2_control.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/control/franka_ros2_control.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/franka.srdf b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/franka.srdf similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/franka.srdf rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/franka.srdf diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/joint_limits.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/joint_limits.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/joint_limits.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/joint_limits.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/ompl_planning.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/ompl_planning.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/ompl_planning.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/ompl_planning.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_ik_distance.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_ik_distance.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_ik_distance.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_ik_distance.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_ik_speed.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_ik_speed.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_ik_speed.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_ik_speed.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_jog.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_jog.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/pose_jog.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/pose_jog.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/sensors_3d.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/sensors_3d.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/sensors_3d.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/sensors_3d.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/servo.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/servo.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/servo.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/servo.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/servo_joint_limits.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/servo_joint_limits.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/servo_joint_limits.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/servo_joint_limits.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/stomp_planning.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/stomp_planning.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/config/moveit/stomp_planning.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/stomp_planning.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro b/src/moveit_pro_franka_configs/dual_arm_sim/description/franka.urdf.xacro similarity index 99% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro rename to src/moveit_pro_franka_configs/dual_arm_sim/description/franka.urdf.xacro index 80628041e..738a42a28 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro +++ b/src/moveit_pro_franka_configs/dual_arm_sim/description/franka.urdf.xacro @@ -252,7 +252,7 @@ picknik_mujoco_ros/MujocoSystem $(arg mujoco_model) - franka_dual_arm_sim + dual_arm_sim 10 60 default diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/LICENSE b/src/moveit_pro_franka_configs/dual_arm_sim/description/mujoco/LICENSE similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/LICENSE rename to src/moveit_pro_franka_configs/dual_arm_sim/description/mujoco/LICENSE diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/assets/finger_0.obj b/src/moveit_pro_franka_configs/dual_arm_sim/description/mujoco/assets/finger_0.obj similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/assets/finger_0.obj rename to src/moveit_pro_franka_configs/dual_arm_sim/description/mujoco/assets/finger_0.obj diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/description/mujoco/assets/finger_1.obj 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src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/take_snap.xml rename to src/moveit_pro_franka_configs/dual_arm_sim/objectives/take_snap.xml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/wipe_zig_zag.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe_zig_zag.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/wipe_zig_zag.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe_zig_zag.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/writing_demo.xml b/src/moveit_pro_franka_configs/dual_arm_sim/objectives/writing_demo.xml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/writing_demo.xml rename to src/moveit_pro_franka_configs/dual_arm_sim/objectives/writing_demo.xml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/package.xml b/src/moveit_pro_franka_configs/dual_arm_sim/package.xml similarity index 96% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/package.xml rename to src/moveit_pro_franka_configs/dual_arm_sim/package.xml index 9818f673d..1f24aa95b 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_sim/package.xml +++ b/src/moveit_pro_franka_configs/dual_arm_sim/package.xml @@ -1,6 +1,6 @@ - franka_dual_arm_sim + dual_arm_sim 7.4.0 Base configuration package for the Franka arm. diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/README.md b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/README.md similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/README.md rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/README.md diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/franka.svg b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/franka.svg similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/franka.svg rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/franka.svg diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/loves.svg b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/loves.svg similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/loves.svg rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/loves.svg diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/moveit_pro.svg b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/moveit_pro.svg similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/moveit_pro.svg rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/moveit_pro.svg diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/svg_to_yaml.py similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/svg_to_yaml.py rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/svg_to_yaml.py diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/wipe.svg b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/wipe.svg similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/wipe.svg rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/wipe.svg diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/wipe_zig_zag.svg b/src/moveit_pro_franka_configs/dual_arm_sim/scripts/wipe_zig_zag.svg similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/scripts/wipe_zig_zag.svg rename to src/moveit_pro_franka_configs/dual_arm_sim/scripts/wipe_zig_zag.svg diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml b/src/moveit_pro_franka_configs/dual_arm_sim/waypoints/waypoints.yaml similarity index 100% rename from src/moveit_pro_franka_configs/franka_dual_arm_sim/waypoints/waypoints.yaml rename to src/moveit_pro_franka_configs/dual_arm_sim/waypoints/waypoints.yaml diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_hw/config/config.yaml b/src/moveit_pro_franka_configs/franka_dual_arm_hw/config/config.yaml index 19c11ece6..53875cc02 100644 --- a/src/moveit_pro_franka_configs/franka_dual_arm_hw/config/config.yaml +++ b/src/moveit_pro_franka_configs/franka_dual_arm_hw/config/config.yaml @@ -51,31 +51,31 @@ moveit_params: joint_group_name: "right_manipulator" ompl_planning: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/ompl_planning.yaml" stomp_planning: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/stomp_planning.yaml" kinematics: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_ik_distance.yaml" servo: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/servo.yaml" sensors_3d: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/sensors_3d.yaml" servo_kinematics: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_ik_speed.yaml" joint_limits: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/joint_limits.yaml" servo_joint_limits: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/servo_joint_limits.yaml" pose_jog: - package: "franka_dual_arm_sim" + package: "dual_arm_sim" path: "config/moveit/pose_jog.yaml" publish: @@ -122,7 +122,7 @@ objectives: # Specify the location of the saved waypoints file. # [Required] #waypoints_file: - # package_name: "franka_dual_arm_sim" + # package_name: "dual_arm_sim" # relative_path: "waypoints/waypoints.yaml" # Configuration for launching ros2_control processes. # [Required, if using ros2_control]