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Merged
MikeWrock merged 3 commits into from
Dec 13, 2024
Merged

Merge v7.0 into main #58

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fdc52fb
use slik as the pose IK solver in all configs, remove deps to trac_ik
marioprats Nov 25, 2024
541021f
remove unused kinematics.yaml files
marioprats Dec 4, 2024
1802402
rename slik -> pose_ik
marioprats Dec 5, 2024
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4 changes: 2 additions & 2 deletions src/fanuc_sim/config/config.yaml
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Expand Up @@ -69,13 +69,13 @@ moveit_params:
path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
kinematics:
package: "fanuc_sim"
path: "config/moveit/trac_ik_kinematics_distance.yaml"
path: "config/moveit/pose_ik_distance.yaml"
servo:
package: "fanuc_sim"
path: "config/moveit/servo.yaml"
servo_kinematics:
package: "fanuc_sim"
path: "config/moveit/trac_ik_kinematics_speed.yaml"
path: "config/moveit/pose_ik_speed.yaml"
joint_limits:
package: "fanuc_sim"
path: "config/moveit/joint_limits.yaml"
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8 changes: 0 additions & 8 deletions src/fanuc_sim/config/moveit/bioik_kinematics.yaml
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5 changes: 5 additions & 0 deletions src/fanuc_sim/config/moveit/pose_ik_distance.yaml
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@@ -0,0 +1,5 @@
manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
4 changes: 4 additions & 0 deletions src/fanuc_sim/config/moveit/pose_ik_speed.yaml
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@@ -0,0 +1,4 @@
manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
6 changes: 0 additions & 6 deletions src/fanuc_sim/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions src/fanuc_sim/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/fanuc_sim/package.xml
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Expand Up @@ -18,7 +18,6 @@
<exec_depend>moveit_ros_perception</exec_depend>
<exec_depend>moveit_studio_agent</exec_depend>
<exec_depend>moveit_studio_behavior</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>

<test_depend>ament_lint_auto</test_depend>

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6 changes: 0 additions & 6 deletions src/lab_sim/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions src/lab_sim/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/lab_sim/package.xml
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Expand Up @@ -25,7 +25,6 @@
<exec_depend>realsense2_description</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>robotiq_controllers</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>
<exec_depend>picknik_mujoco_ros</exec_depend>
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2 changes: 1 addition & 1 deletion src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml
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Expand Up @@ -76,7 +76,7 @@ moveit_params:
path: "config/moveit/stomp_planning.yaml"
kinematics:
package: "kinova_gen3_base_config"
path: "config/moveit/trak_ik_kinematics_distance.yaml"
path: "config/moveit/pose_ik_distance.yaml"
servo:
package: "kinova_gen3_base_config"
path: "config/moveit/kinova_gen3_servo.yaml"
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5 changes: 0 additions & 5 deletions src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/kinematics.yaml
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5 changes: 5 additions & 0 deletions src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/moveit/pose_ik_distance.yaml
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@@ -0,0 +1,5 @@
manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
6 changes: 0 additions & 6 deletions ...pro_kinova_configs/kinova_gen3_base_config/config/moveit/trak_ik_kinematics_distance.yaml
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4 changes: 2 additions & 2 deletions src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/config.yaml
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Expand Up @@ -87,7 +87,7 @@ moveit_params:
path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
kinematics:
package: "kinova_gen3_mujoco_config"
path: "config/moveit/trac_ik_kinematics_distance.yaml"
path: "config/moveit/pose_ik_distance.yaml"
servo:
package: "kinova_gen3_mujoco_config"
path: "config/moveit/kinova_gen3_servo.yaml"
Expand All @@ -96,7 +96,7 @@ moveit_params:
path: "config/moveit/sensors_3d.yaml"
servo_kinematics:
package: "kinova_gen3_mujoco_config"
path: "config/moveit/trac_ik_kinematics_speed.yaml"
path: "config/moveit/pose_ik_speed.yaml"
joint_limits:
package: "kinova_gen3_mujoco_config"
path: "config/moveit/joint_limits.yaml"
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8 changes: 0 additions & 8 deletions src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/bioik_kinematics.yaml
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5 changes: 0 additions & 5 deletions src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/kinematics.yaml
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5 changes: 5 additions & 0 deletions src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_distance.yaml
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manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
4 changes: 4 additions & 0 deletions src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/pose_ik_speed.yaml
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manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
6 changes: 0 additions & 6 deletions ...o_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions ..._pro_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trac_ik_kinematics_speed.yaml
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6 changes: 0 additions & 6 deletions ...o_kinova_configs/kinova_gen3_mujoco_config/config/moveit/trak_ik_kinematics_distance.yaml
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1 change: 0 additions & 1 deletion src/moveit_pro_mobile_manipulation/mobile_manipulation_config/package.xml
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Expand Up @@ -22,7 +22,6 @@
<depend>picknik_accessories</depend>
<exec_depend>realsense2_camera</exec_depend>
<exec_depend>realsense2_description</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>
<exec_depend>picknik_mujoco_ros</exec_depend>
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6 changes: 0 additions & 6 deletions ...bile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions ..._mobile_manipulation/picknik_ur_mobile_config/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/package.xml
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Expand Up @@ -25,7 +25,6 @@
<exec_depend>realsense2_description</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>robotiq_controllers</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>
<exec_depend>picknik_mujoco_ros</exec_depend>
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6 changes: 0 additions & 6 deletions src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions src/moveit_pro_ur_configs/arm_on_rail_sim/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/moveit_pro_ur_configs/arm_on_rail_sim/package.xml
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Expand Up @@ -24,7 +24,6 @@
<exec_depend>realsense2_description</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>robotiq_controllers</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>
<exec_depend>picknik_mujoco_ros</exec_depend>
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4 changes: 2 additions & 2 deletions src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml
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Expand Up @@ -102,7 +102,7 @@ moveit_params:
path: "config/moveit/pilz_industrial_motion_planner_planning.yaml"
kinematics:
package: "picknik_ur_base_config"
path: "config/moveit/trac_ik_kinematics_distance.yaml"
path: "config/moveit/pose_ik_distance.yaml"
servo:
package: "picknik_ur_base_config"
path: "config/moveit/ur_servo.yaml"
Expand All @@ -111,7 +111,7 @@ moveit_params:
path: "config/moveit/sensors_3d.yaml"
servo_kinematics:
package: "picknik_ur_base_config"
path: "config/moveit/trac_ik_kinematics_speed.yaml"
path: "config/moveit/pose_ik_speed.yaml"
joint_limits:
package: "picknik_ur_base_config"
path: "config/moveit/joint_limits.yaml"
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8 changes: 0 additions & 8 deletions src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/bioik_kinematics.yaml
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5 changes: 5 additions & 0 deletions src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_distance.yaml
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@@ -0,0 +1,5 @@
manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
4 changes: 4 additions & 0 deletions src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/pose_ik_speed.yaml
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manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
6 changes: 0 additions & 6 deletions ...veit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_distance.yaml
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6 changes: 0 additions & 6 deletions src/moveit_pro_ur_configs/picknik_ur_base_config/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/moveit_pro_ur_configs/picknik_ur_base_config/package.xml
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Expand Up @@ -25,7 +25,6 @@
<exec_depend>realsense2_description</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>robotiq_controllers</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>

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4 changes: 2 additions & 2 deletions src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/config.yaml
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Expand Up @@ -92,7 +92,7 @@ moveit_params:
path: "config/moveit/stomp_planning.yaml"
kinematics:
package: "picknik_ur_multi_arm_config"
path: "config/moveit/trac_ik_kinematics_distance.yaml"
path: "config/moveit/pose_ik_distance.yaml"
servo:
package: "picknik_ur_multi_arm_config"
path: "config/moveit/multi_ur_servo.yaml"
Expand All @@ -101,7 +101,7 @@ moveit_params:
path: "config/moveit/sensors_3d.yaml"
servo_kinematics:
package: "picknik_ur_multi_arm_config"
path: "config/moveit/trac_ik_kinematics_speed.yaml"
path: "config/moveit/pose_ik_speed.yaml"
joint_limits:
package: "picknik_ur_multi_arm_config"
path: "config/moveit/multi_arm_joint_limits.yaml"
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20 changes: 20 additions & 0 deletions src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_distance.yaml
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first_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
second_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
third_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
fourth_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
16 changes: 16 additions & 0 deletions src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/pose_ik_speed.yaml
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first_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
second_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
third_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
fourth_manipulator:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
target_tolerance: 0.001
solve_mode: "first_found"
24 changes: 0 additions & 24 deletions ...pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_distance.yaml
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24 changes: 0 additions & 24 deletions ...it_pro_ur_configs/picknik_ur_multi_arm_config/config/moveit/trac_ik_kinematics_speed.yaml
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1 change: 0 additions & 1 deletion src/moveit_pro_ur_configs/picknik_ur_multi_arm_config/package.xml
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Expand Up @@ -24,7 +24,6 @@
<exec_depend>realsense2_description</exec_depend>
<exec_depend>robotiq_description</exec_depend>
<exec_depend>robotiq_controllers</exec_depend>
<exec_depend>trac_ik_kinematics_plugin</exec_depend>
<exec_depend>ur_description</exec_depend>
<exec_depend>ur_robot_driver</exec_depend>

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