diff --git a/src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml b/src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml index 97f2f891..7e812253 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml +++ b/src/moveit_pro_ur_configs/bring_it_sim/description/bar.xml @@ -66,7 +66,7 @@ friction="0.8 0.2" /> - + - + 60 60 10 - linear_x_joint linear_y_joint rotational_yaw_joint world_bar world_beer_bottle_1 world_beer_bottle_2 world_beer_bottle_3 world_beer_bottle_4 world_beer_bottle_5 world_table_1 world_table_2 world_table_3 world_table_4 + linear_x_joint linear_y_joint rotational_yaw_joint true ridgeback_base_link true diff --git a/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro b/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro index d4521fb4..3aa2bba6 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro +++ b/src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro @@ -24,7 +24,6 @@ - diff --git a/src/moveit_pro_ur_configs/bring_it_sim/objectives/move_close_to_bar.xml b/src/moveit_pro_ur_configs/bring_it_sim/objectives/move_close_to_bar.xml new file mode 100644 index 00000000..9ff00a59 --- /dev/null +++ b/src/moveit_pro_ur_configs/bring_it_sim/objectives/move_close_to_bar.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + diff --git a/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_beer.xml b/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_beer.xml new file mode 100644 index 00000000..a45f56fb --- /dev/null +++ b/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_beer.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_up_beer.xml b/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_up_beer.xml new file mode 100644 index 00000000..1611909f --- /dev/null +++ b/src/moveit_pro_ur_configs/bring_it_sim/objectives/pick_up_beer.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/src/moveit_pro_ur_configs/bring_it_sim/params/nav2_params.yaml b/src/moveit_pro_ur_configs/bring_it_sim/params/nav2_params.yaml index 310c98cb..eaf02fde 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/params/nav2_params.yaml +++ b/src/moveit_pro_ur_configs/bring_it_sim/params/nav2_params.yaml @@ -199,7 +199,7 @@ local_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.20 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True @@ -264,7 +264,7 @@ global_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.20 always_send_full_costmap: True map_server: diff --git a/src/moveit_pro_ur_configs/bring_it_sim/waypoints/ur_waypoints.yaml b/src/moveit_pro_ur_configs/bring_it_sim/waypoints/ur_waypoints.yaml index de7bc970..4ffe6c92 100644 --- a/src/moveit_pro_ur_configs/bring_it_sim/waypoints/ur_waypoints.yaml +++ b/src/moveit_pro_ur_configs/bring_it_sim/waypoints/ur_waypoints.yaml @@ -1,32 +1,53 @@ -- description: '' +- description: "" favorite: true joint_group_names: + - gripper + - linear_actuator - manipulator + - wheel_actuator joint_state: effort: [] header: - frame_id: '' + frame_id: "" stamp: nanosec: 0 sec: 0 name: + - robotiq_85_left_knuckle_joint + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint - shoulder_pan_joint + - shoulder_lift_joint - elbow_joint + - wrist_1_joint - wrist_2_joint - wrist_3_joint - - wrist_1_joint - - shoulder_lift_joint + - front_rocker + - front_left_wheel + - front_right_wheel + - rear_left_wheel + - rear_right_wheel position: - - -8.704708810562631e-06 - - 1.4068654234675446 - - 1.56799762591031 - - 8.888612690481538e-10 - - 0.782482319413393 - - -1.2156111214535257 + - 0.1025781249307494 + - 0 + - 0 + - 0 + - 0.8371631576820436 + - -0.3352390746492166 + - 0.19765088507041076 + - -2.3182411494283217 + - -1.4856134479671956 + - -0.059141607883296456 + - 6.680871677833013e-05 + - -5.2400322737957 + - 5.2356089836249575 + - -5.238369713479739 + - 5.233722234090497 velocity: [] multi_dof_joint_state: header: - frame_id: '' + frame_id: "" stamp: nanosec: 0 sec: 0 @@ -34,15 +55,15 @@ transforms: [] twist: [] wrench: [] - name: Look at Table -- description: '' + name: Near bottle 3 +- description: "" favorite: true joint_group_names: - manipulator joint_state: effort: [] header: - frame_id: '' + frame_id: "" stamp: nanosec: 0 sec: 0 @@ -63,7 +84,7 @@ velocity: [] multi_dof_joint_state: header: - frame_id: '' + frame_id: "" stamp: nanosec: 0 sec: 0 @@ -72,3 +93,50 @@ twist: [] wrench: [] name: Stowed +- description: "" + favorite: true + joint_group_names: + - gripper + - linear_actuator + - manipulator + joint_state: + effort: [] + header: + frame_id: "" + stamp: + nanosec: 0 + sec: 0 + name: + - robotiq_85_left_knuckle_joint + - linear_x_joint + - linear_y_joint + - rotational_yaw_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + position: + - 0 + - 0.4 + - 0.4 + - 1 + - 0 + - -1.5708 + - 0.785398 + - -1.2948195437205516 + - -1.5708 + - 0 + velocity: [] + multi_dof_joint_state: + header: + frame_id: "" + stamp: + nanosec: 0 + sec: 0 + joint_names: [] + transforms: [] + twist: [] + wrench: [] + name: Look at Table