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Stretch Moveit Config

feature/ros2_diffdrive
David V. Lu 3 years ago
parent
88336987b1
commit
f0c6aff09b
33 changed files with 1654 additions and 0 deletions
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  1. +11
    -0
      stretch_moveit_config/.setup_assistant
  2. +10
    -0
      stretch_moveit_config/CMakeLists.txt
  3. +18
    -0
      stretch_moveit_config/config/chomp_planning.yaml
  4. +16
    -0
      stretch_moveit_config/config/fake_controllers.yaml
  5. +50
    -0
      stretch_moveit_config/config/joint_limits.yaml
  6. +4
    -0
      stretch_moveit_config/config/kinematics.yaml
  7. +183
    -0
      stretch_moveit_config/config/ompl_planning.yaml
  8. +49
    -0
      stretch_moveit_config/config/ros_controllers.yaml
  9. +10
    -0
      stretch_moveit_config/config/sensors_3d.yaml
  10. +382
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      stretch_moveit_config/config/stretch_description.srdf
  11. +21
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      stretch_moveit_config/launch/chomp_planning_pipeline.launch.xml
  12. +15
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      stretch_moveit_config/launch/default_warehouse_db.launch
  13. +65
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      stretch_moveit_config/launch/demo.launch
  14. +75
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      stretch_moveit_config/launch/demo_gazebo.launch
  15. +9
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      stretch_moveit_config/launch/fake_moveit_controller_manager.launch.xml
  16. +23
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      stretch_moveit_config/launch/gazebo.launch
  17. +17
    -0
      stretch_moveit_config/launch/joystick_control.launch
  18. +82
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      stretch_moveit_config/launch/move_group.launch
  19. +378
    -0
      stretch_moveit_config/launch/moveit.rviz
  20. +15
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      stretch_moveit_config/launch/moveit_rviz.launch
  21. +25
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      stretch_moveit_config/launch/ompl_planning_pipeline.launch.xml
  22. +25
    -0
      stretch_moveit_config/launch/planning_context.launch
  23. +10
    -0
      stretch_moveit_config/launch/planning_pipeline.launch.xml
  24. +11
    -0
      stretch_moveit_config/launch/ros_controllers.launch
  25. +21
    -0
      stretch_moveit_config/launch/run_benchmark_ompl.launch
  26. +17
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      stretch_moveit_config/launch/sensor_manager.launch.xml
  27. +15
    -0
      stretch_moveit_config/launch/setup_assistant.launch
  28. +10
    -0
      stretch_moveit_config/launch/stretch_description_moveit_controller_manager.launch.xml
  29. +3
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      stretch_moveit_config/launch/stretch_description_moveit_sensor_manager.launch.xml
  30. +20
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      stretch_moveit_config/launch/trajectory_execution.launch.xml
  31. +15
    -0
      stretch_moveit_config/launch/warehouse.launch
  32. +16
    -0
      stretch_moveit_config/launch/warehouse_settings.launch.xml
  33. +33
    -0
      stretch_moveit_config/package.xml

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stretch_moveit_config/.setup_assistant View File

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moveit_setup_assistant_config:
URDF:
package: stretch_description
relative_path: urdf/stretch_description.xacro
xacro_args: ""
SRDF:
relative_path: config/stretch_description.srdf
CONFIG:
author_name: David V. Lu!!
author_email: davidvlu@gmail.com
generated_timestamp: 1602791794

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stretch_moveit_config/CMakeLists.txt View File

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cmake_minimum_required(VERSION 3.1.3)
project(stretch_moveit_config)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

+ 18
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stretch_moveit_config/config/chomp_planning.yaml View File

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planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.01
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearence: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: true
max_recovery_attempts: 5

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stretch_moveit_config/config/fake_controllers.yaml View File

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controller_list:
- name: fake_stretch_arm_controller
joints:
- joint_lift
- joint_arm_l3
- joint_arm_l2
- joint_arm_l1
- joint_arm_l0
- joint_wrist_yaw
- name: fake_gripper_controller
joints:
- joint_gripper_finger_left
- joint_gripper_finger_right
initial: # Define initial robot poses.
- group: stretch_arm
pose: home

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stretch_moveit_config/config/joint_limits.yaml View File

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint_arm_l0:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_arm_l1:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_arm_l2:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_arm_l3:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_gripper_finger_left:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_gripper_finger_right:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_lift:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0
joint_wrist_yaw:
has_velocity_limits: true
max_velocity: 1
has_acceleration_limits: false
max_acceleration: 0

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stretch_moveit_config/config/kinematics.yaml View File

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stretch_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005

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stretch_moveit_config/config/ompl_planning.yaml View File

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planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
stretch_arm:
default_planner_config: None
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
gripper:
default_planner_config: ""
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo

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stretch_moveit_config/config/ros_controllers.yaml View File

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# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: stretch_arm
joint_model_group_pose: home
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- position
- joint_left_wheel
- joint_head_pan
- joint_head_tilt
- joint_lift
- joint_arm_l3
- joint_arm_l2
- joint_arm_l1
- joint_arm_l0
- joint_wrist_yaw
- joint_gripper_finger_left
- joint_gripper_finger_right
- joint_right_wheel
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
- name: stretch_arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- joint_lift
- joint_arm_l3
- joint_arm_l2
- joint_arm_l1
- joint_arm_l0
- joint_wrist_yaw
- name: gripper_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- joint_gripper_finger_left
- joint_gripper_finger_right

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- 0
stretch_moveit_config/config/sensors_3d.yaml View File

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# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
- filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /head_mount_kinect/depth_registered/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

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stretch_moveit_config/config/stretch_description.srdf View File

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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="stretch_description">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="stretch_arm">
<joint name="joint_lift"/>
<joint name="joint_arm_l4"/>
<joint name="joint_arm_l3"/>
<joint name="joint_arm_l2"/>
<joint name="joint_arm_l1"/>
<joint name="joint_arm_l0"/>
<joint name="joint_wrist_yaw"/>
</group>
<group name="gripper">
<link name="link_gripper"/>
<link name="link_grasp_center"/>
<link name="link_gripper_finger_left"/>
<link name="link_gripper_fingertip_left"/>
<link name="link_gripper_finger_right"/>
<link name="link_gripper_fingertip_right"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="stretch_arm">
<joint name="joint_arm_l0" value="0"/>
<joint name="joint_arm_l1" value="0"/>
<joint name="joint_arm_l2" value="0"/>
<joint name="joint_arm_l3" value="0"/>
<joint name="joint_lift" value="0.1033"/>
<joint name="joint_wrist_yaw" value="0"/>
</group_state>
<group_state name="extended" group="stretch_arm">
<joint name="joint_arm_l0" value="0.13"/>
<joint name="joint_arm_l1" value="0.13"/>
<joint name="joint_arm_l2" value="0.13"/>
<joint name="joint_arm_l3" value="0.13"/>
<joint name="joint_lift" value="1.1"/>
<joint name="joint_wrist_yaw" value="4"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="gripper" parent_link="link_grasp_center" group="stretch_arm"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="position" type="floating" parent_frame="map" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link" link2="camera_link" reason="Never"/>
<disable_collisions link1="base_link" link2="laser" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_arm_l0" reason="Never"/>
<disable_collisions link1="base_link" link2="link_arm_l1" reason="Never"/>
<disable_collisions link1="base_link" link2="link_arm_l2" reason="Never"/>
<disable_collisions link1="base_link" link2="link_arm_l3" reason="Never"/>
<disable_collisions link1="base_link" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="base_link" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="base_link" link2="link_aruco_left_base" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_aruco_right_base" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="base_link" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="base_link" link2="link_head" reason="Never"/>
<disable_collisions link1="base_link" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="base_link" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="base_link" link2="link_left_wheel" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_lift" reason="Never"/>
<disable_collisions link1="base_link" link2="link_mast" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_right_wheel" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="base_link" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="camera_link" link2="laser" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_arm_l0" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_arm_l1" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_arm_l2" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_arm_l3" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_gripper" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_head_tilt" reason="Adjacent"/>
<disable_collisions link1="camera_link" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_lift" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_mast" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="camera_link" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="camera_link" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="laser" link2="link_arm_l0" reason="Never"/>
<disable_collisions link1="laser" link2="link_arm_l1" reason="Never"/>
<disable_collisions link1="laser" link2="link_arm_l2" reason="Never"/>
<disable_collisions link1="laser" link2="link_arm_l3" reason="Never"/>
<disable_collisions link1="laser" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="laser" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="laser" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="laser" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="laser" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="laser" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="laser" link2="link_gripper" reason="Never"/>
<disable_collisions link1="laser" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="laser" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="laser" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="laser" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="laser" link2="link_head" reason="Never"/>
<disable_collisions link1="laser" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="laser" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="laser" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="laser" link2="link_lift" reason="Never"/>
<disable_collisions link1="laser" link2="link_mast" reason="Never"/>
<disable_collisions link1="laser" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="laser" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="laser" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_arm_l1" reason="Adjacent"/>
<disable_collisions link1="link_arm_l0" link2="link_arm_l2" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_arm_l3" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_aruco_inner_wrist" reason="Adjacent"/>
<disable_collisions link1="link_arm_l0" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_aruco_top_wrist" reason="Adjacent"/>
<disable_collisions link1="link_arm_l0" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_head" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l0" link2="link_wrist_yaw" reason="Adjacent"/>
<disable_collisions link1="link_arm_l0" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_arm_l2" reason="Adjacent"/>
<disable_collisions link1="link_arm_l1" link2="link_arm_l3" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_head" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_arm_l1" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_arm_l3" reason="Adjacent"/>
<disable_collisions link1="link_arm_l2" link2="link_arm_l4" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_head" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_arm_l2" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_arm_l4" reason="Adjacent"/>
<disable_collisions link1="link_arm_l3" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_head" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_arm_l3" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_aruco_inner_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_head" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_lift" reason="Adjacent"/>
<disable_collisions link1="link_arm_l4" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_arm_l4" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_left_base" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_head" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_aruco_inner_wrist" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_aruco_right_base" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_head" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_aruco_left_base" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_aruco_shoulder" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_gripper" reason="Default"/>
<disable_collisions link1="link_aruco_right_base" link2="link_head" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_aruco_right_base" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_aruco_top_wrist" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_head" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_lift" reason="Adjacent"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_aruco_shoulder" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_gripper" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_finger_left" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_finger_right" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_head" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_aruco_top_wrist" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_gripper_finger_left" reason="Adjacent"/>
<disable_collisions link1="link_gripper" link2="link_gripper_finger_right" reason="Adjacent"/>
<disable_collisions link1="link_gripper" link2="link_gripper_fingertip_left" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_gripper_fingertip_right" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_head" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_gripper" link2="link_wrist_yaw" reason="Adjacent"/>
<disable_collisions link1="link_gripper" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_gripper_fingertip_left" reason="Adjacent"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_head" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_gripper_finger_left" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_gripper_fingertip_right" reason="Adjacent"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_head" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_gripper_finger_right" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_head" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_left" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_head" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_head_pan" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_gripper_fingertip_right" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_head" link2="link_head_pan" reason="Adjacent"/>
<disable_collisions link1="link_head" link2="link_head_tilt" reason="Never"/>
<disable_collisions link1="link_head" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_head" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_head" link2="link_mast" reason="Adjacent"/>
<disable_collisions link1="link_head" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_head" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_head" link2="respeaker_base" reason="Default"/>
<disable_collisions link1="link_head_pan" link2="link_head_tilt" reason="Adjacent"/>
<disable_collisions link1="link_head_pan" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_head_pan" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_head_pan" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_head_pan" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_head_pan" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_head_pan" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="link_left_wheel" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_head_tilt" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_left_wheel" link2="link_lift" reason="Never"/>
<disable_collisions link1="link_left_wheel" link2="link_mast" reason="Never"/>
<disable_collisions link1="link_left_wheel" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_left_wheel" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_left_wheel" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_lift" link2="link_mast" reason="Adjacent"/>
<disable_collisions link1="link_lift" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_lift" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_lift" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_mast" link2="link_right_wheel" reason="Never"/>
<disable_collisions link1="link_mast" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_mast" link2="respeaker_base" reason="Adjacent"/>
<disable_collisions link1="link_right_wheel" link2="link_wrist_yaw" reason="Never"/>
<disable_collisions link1="link_right_wheel" link2="respeaker_base" reason="Never"/>
<disable_collisions link1="link_wrist_yaw" link2="respeaker_base" reason="Never"/>
</robot>

+ 21
- 0
stretch_moveit_config/launch/chomp_planning_pipeline.launch.xml View File

@ -0,0 +1,21 @@
<launch>
<!-- CHOMP Plugin for MoveIt -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<!-- The request adapters (plugins) used when planning.
ORDER MATTERS -->
<arg name="planning_adapters"
value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find stretch_moveit_config)/config/chomp_planning.yaml" />
</launch>

+ 15
- 0
stretch_moveit_config/launch/default_warehouse_db.launch View File

@ -0,0 +1,15 @@
<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find stretch_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

+ 65
- 0
stretch_moveit_config/launch/demo.launch View File

@ -0,0 +1,65 @@
<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 map base_link" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find stretch_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

+ 75
- 0
stretch_moveit_config/launch/demo_gazebo.launch View File

@ -0,0 +1,75 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt's "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find stretch_description)/urdf/stretch_description.xacro"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find stretch_moveit_config)/launch/gazebo.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
<arg name="urdf_path" value="$(arg urdf_path)"/>
</include>
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="false"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 map base_link" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
<rosparam param="source_list">[/joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find stretch_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="false"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch">
<arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

+ 9
- 0
stretch_moveit_config/launch/fake_moveit_controller_manager.launch.xml View File

@ -0,0 +1,9 @@
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find stretch_moveit_config)/config/fake_controllers.yaml"/>
</launch>

+ 23
- 0
stretch_moveit_config/launch/gazebo.launch View File

@ -0,0 +1,23 @@
<?xml version="1.0"?>
<launch>
<arg name="paused" default="false"/>
<arg name="gazebo_gui" default="true"/>
<arg name="urdf_path" default="$(find stretch_description)/urdf/stretch_description.xacro"/>
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gazebo_gui)"/>
</include>
<!-- send robot urdf to param server -->
<param name="robot_description" textfile="$(arg urdf_path)" />
<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
respawn="false" output="screen" />
<include file="$(find stretch_moveit_config)/launch/ros_controllers.launch"/>
</launch>

+ 17
- 0
stretch_moveit_config/launch/joystick_control.launch View File

@ -0,0 +1,17 @@
<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>

+ 82
- 0
stretch_moveit_config/launch/move_group.launch View File

@ -0,0 +1,82 @@
<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find stretch_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="true" />
<!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Functionality -->
<include ns="move_group" file="$(find stretch_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find stretch_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="stretch_description" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(find stretch_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="stretch_description" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

+ 378
- 0
stretch_moveit_config/launch/moveit.rviz View File

@ -0,0 +1,378 @@
Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.7425600290298462
Tree Height: 363
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_grasp_center:
Alpha: 1
Show Axes: false
Show Trail: false
link_gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_finger_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_finger_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_fingertip_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_fingertip_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_pan:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_tilt:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_lift:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_mast:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_wrist_yaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: stretch_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_arm_l4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_grasp_center:
Alpha: 1
Show Axes: false
Show Trail: false
link_gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_finger_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_finger_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_fingertip_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_gripper_fingertip_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_pan:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_head_tilt:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_lift:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_mast:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link_wrist_yaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.0420308113098145
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.4647970497608185
Target Frame: base_link
Yaw: 5.0149431228637695
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1008
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a200000396fc0200000007fb000000100044006900730070006c006100790073010000003d000001fc000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000023f000001940000018900ffffff0000047c0000039600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 92
Y: 633

+ 15
- 0
stretch_moveit_config/launch/moveit_rviz.launch View File

@ -0,0 +1,15 @@
<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_config" default="" />
<arg if="$(eval rviz_config=='')" name="command_args" value="" />
<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
</node>
</launch>

+ 25
- 0
stretch_moveit_config/launch/ompl_planning_pipeline.launch.xml View File

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<launch>
<!-- OMPL Plugin for MoveIt -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters"
value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/>
</launch>

+ 25
- 0
stretch_moveit_config/launch/planning_context.launch View File

@ -0,0 +1,25 @@
<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find stretch_description)/urdf/stretch_description.xacro'"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find stretch_moveit_config)/config/stretch_description.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find stretch_moveit_config)/config/joint_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find stretch_moveit_config)/config/kinematics.yaml"/>
</group>
</launch>

+ 10
- 0
stretch_moveit_config/launch/planning_pipeline.launch.xml View File

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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include file="$(find stretch_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

+ 11
- 0
stretch_moveit_config/launch/ros_controllers.launch View File

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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find stretch_moveit_config)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args=""/>
</launch>

+ 21
- 0
stretch_moveit_config/launch/run_benchmark_ompl.launch View File

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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(find stretch_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find stretch_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/>
</node>
</launch>

+ 17
- 0
stretch_moveit_config/launch/sensor_manager.launch.xml View File

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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find stretch_moveit_config)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="stretch_description" />
<include file="$(find stretch_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

+ 15
- 0
stretch_moveit_config/launch/setup_assistant.launch View File

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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=stretch_moveit_config"
launch-prefix="$(arg launch_prefix)"
output="screen" />
</launch>

+ 10
- 0
stretch_moveit_config/launch/stretch_description_moveit_controller_manager.launch.xml View File

@ -0,0 +1,10 @@
<launch>
<!-- loads moveit_controller_manager on the parameter server which is taken as argument
if no argument is passed, moveit_simple_controller_manager will be set -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- loads ros_controllers to the param server -->
<rosparam file="$(find stretch_moveit_config)/config/ros_controllers.yaml"/>
</launch>

+ 3
- 0
stretch_moveit_config/launch/stretch_description_moveit_sensor_manager.launch.xml View File

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<launch>
</launch>

+ 20
- 0
stretch_moveit_config/launch/trajectory_execution.launch.xml View File

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<launch>
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="stretch_description" />
<include file="$(find stretch_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
</launch>

+ 15
- 0
stretch_moveit_config/launch/warehouse.launch View File

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<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find stretch_moveit_config)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

+ 16
- 0
stretch_moveit_config/launch/warehouse_settings.launch.xml View File

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<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

+ 33
- 0
stretch_moveit_config/package.xml View File

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<package>
<name>stretch_moveit_config</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the stretch_description with the MoveIt Motion Planning Framework
</description>
<author email="davidvlu@gmail.com">David V. Lu!!</author>
<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>stretch_description</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
</package>

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