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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 00000000..b22603f5 --- /dev/null +++ b/README.md @@ -0,0 +1,11 @@ +# TIAGo robot + +This package contains the description, controllers and bringup for all possible TIAGo configurations (end effectors, force torque sensors..). + +To make maintenance easier, the `tiago.urdf.xacro` takes arguments that specify whether the robot has an arm or not, the end effector type, force torque sensor, laser model and many other parameters. + +The other configuration files that differ between robot configurations are generated from template files. + +The templates are written using [empy](https://pypi.org/project/empy/) and have the extension `.em`. + +To regenerate a group of files, you must execute `rosrun tiago_bringup regen_em_file.py EM_FILE_NAME` from the directory where the `.em` file is. diff --git a/tiago_bringup/CHANGELOG.rst b/tiago_bringup/CHANGELOG.rst index 26938aff..9fdce7a8 100644 --- a/tiago_bringup/CHANGELOG.rst +++ b/tiago_bringup/CHANGELOG.rst @@ -2,6 +2,404 @@ Changelog for package tiago_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.3.17 (2023-11-20) +------------------- +* Merge branch 'load-motions' into 'erbium-devel' + Load motions according to end effector + See merge request robots/tiago_robot!206 +* Fix dependencies +* Move load motions script to pal_motion_loader, modify bringup +* Add script to load motions according to end effector +* Contributors: Josef Svec, Sai Kishor Kothakota, davidfernandez + +2.3.16 (2023-11-08) +------------------- + +2.3.15 (2023-10-23) +------------------- + +2.3.14 (2023-10-11) +------------------- +* Merge branch 'change_license_to_apache' into 'erbium-devel' + change public license to Apache License 2.0 + See merge request robots/tiago_robot!229 +* change public license to Apache License 2.0 +* Contributors: Jordan Palacios, Sai Kishor Kothakota + +2.3.13 (2023-08-09) +------------------- +* Merge branch 'fix_dynamic' into 'erbium-devel' + Add missing argument + See merge request robots/tiago_robot!220 +* Add missing argument +* Contributors: Sai Kishor Kothakota, thomaspeyrucain + +2.3.12 (2023-06-12) +------------------- + +2.3.11 (2023-04-18) +------------------- +* Merge branch 'update-joystick' into 'erbium-devel' + Update joystick device name + See merge request robots/tiago_robot!194 +* Update joystick device name +* Contributors: David ter Kuile, Sai Kishor Kothakota + +2.3.10 (2023-03-13) +------------------- + +2.3.9 (2022-12-13) +------------------ +* Merge branch 'add-moveit-capability-loader' into 'erbium-devel' + Add argument for launching move_group + See merge request robots/tiago_robot!181 +* Set enable_moveit_camera arg in tiago_controllers.launch +* Update use_moveit_camera set to true if advanced_grasping is true +* Ensure moveit camera is always on when advanced grasping is loaded +* Add advanced_grasping launch arguments +* set default moveit_camera arg back to false +* Enable moveit-camera propagation in launch files +* Contributors: David ter Kuile, saikishor + +2.3.8 (2022-10-24) +------------------ + +2.3.7 (2022-08-10) +------------------ + +2.3.6 (2022-08-04) +------------------ +* Merge branch 'use_usb_camera' into 'erbium-devel' + Update launch file and script to be able to use usb_camera instead of libuvc_camera + See merge request robots/tiago_robot!154 +* added usb_cam dependency +* Update launch file and script to be able to use usb_camera instead of libuvc_camera +* Contributors: Sai Kishor Kothakota, saikishor + +2.3.5 (2022-07-26) +------------------ + +2.3.4 (2022-07-21) +------------------ +* Merge branch 'add_omni_tiago' into 'erbium-devel' + Add base_type to the missing launch files + See merge request robots/tiago_robot!153 +* address comment + adding mm11.launch to take into account the base_type +* Merge the 2 .em files and create a script only for the motions +* Add specific motions for the TIAGo omni +* =Add base_type to the missing launch files +* Contributors: saikishor, thomaspeyrucain, validation_1 + +2.3.3 (2022-07-19) +------------------ + +2.3.2 (2022-05-17) +------------------ +* added support for the new product ID from same vendor for endoscopic camera +* Contributors: Sai Kishor Kothakota + +2.3.1 (2022-05-16) +------------------ +* Merge branch 'new_endoscopic_camera_support' into 'erbium-devel' + added support for new endoscopic camera vendor + See merge request robots/tiago_robot!151 +* added support for new endoscopic camera vendor +* Contributors: Sai Kishor Kothakota, saikishor + +2.3.0 (2022-05-03) +------------------ + +2.2.15 (2022-05-03) +------------------- +* Merge branch 'no-end-effector-bugfix' into 'erbium-devel' + No end effector bugfix + See merge request robots/tiago_robot!149 +* file_suffix consistency +* Merge branch 'no-end-effector-bugfix' of gitlab:robots/tiago_robot into no-end-effector-bugfix +* Apply 5 suggestion(s) to 4 file(s) +* remove redundant spaces +* remove redundant spaces +* end effector back to hey-5 +* prevent ft sensor to load when no arm is attached +* update motions +* update epck gripper +* edit motions config +* update motions config file +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* edit motions config +* update motions config file +* made some changes +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* prevent ft sensor to load when no arm is attached +* Merge branch 'no-end-effector-bugfix' of gitlab:robots/tiago_robot into no-end-effector-bugfix +* update motions +* remove.orig file| +* rebase +* rebase +* update epck gripper +* edit motions config +* update motions config file +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* edit motions config +* update motions config file +* made some changes +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* update epck gripper +* edit motions config +* update motions config file +* made some changes +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* edit motions config +* update motions config file +* made some changes +* Update eval function, generate scripts +* delete wrongly named hardware yaml file +* rewrite eval function for name of config files +* Contributors: David ter Kuile, saikishor + +2.2.14 (2022-04-20) +------------------- + +2.2.13 (2022-03-23) +------------------- +* Merge branch 'fix_home_robotiq_2f_140' into 'erbium-devel' + Fix home position for robotiq-2f-140 + fix Reach max out of range motion + add effort_controller + See merge request robots/tiago_robot!148 +* Fix motions on grippers too close to joint limits + change home position for robotiq 2f 140 +* Fix home position for robotiq-2f-140 + fix Reach max out of range motion + add effort_controller +* Contributors: saikishor, thomaspeyrucain + +2.2.12 (2022-03-18) +------------------- + +2.2.11 (2022-03-18) +------------------- +* Merge branch 'add_robotiq_epick_gripper' into 'erbium-devel' + Add link to epick urdf + See merge request robots/tiago_robot!145 +* regenerate the motions after rebasing +* Change config files to match new name and new controller + add joystick control +* Change the name from vacuum to finger and add config file for controller +* Add config files for robotiq-epick gripper +* Contributors: Sai Kishor Kothakota, saikishor, thomaspeyrucain + +2.2.10 (2022-02-22) +------------------- +* Merge branch 'fix-offer-motion' into 'erbium-devel' + Fix offer motion for robotiq gripper + See merge request robots/tiago_robot!146 +* Fix offer motion for robotiq gripper +* Contributors: saikishor, thomaspeyrucain + +2.2.9 (2022-01-19) +------------------ +* Merge branch 'use_rsp' into 'erbium-devel' + Use robot_state_publisher instead of deprecated state_publisher + See merge request robots/tiago_robot!147 +* Use robot_state_publisher instead of deprecated state_publisher +* Contributors: Jordan Palacios + +2.2.8 (2021-12-22) +------------------ + +2.2.7 (2021-11-25) +------------------ + +2.2.6 (2021-11-22) +------------------ + +2.2.5 (2021-11-19) +------------------ +* Merge branch 'conditional_dependencies' into 'erbium-devel' + Conditional dependencies + See merge request robots/tiago_robot!140 +* change to package version 3 +* Contributors: Sai Kishor Kothakota, victor + +2.2.4 (2021-11-10) +------------------ + +2.2.3 (2021-11-10) +------------------ + +2.2.2 (2021-11-09) +------------------ + +2.2.1 (2021-11-09) +------------------ +* Merge branch 'fix_xml_generation_error' into 'erbium-devel' + Fis xml generation error removing initial message + See merge request robots/tiago_robot!138 +* Fis xml generation error removing initial message +* Contributors: Jordan Palacios, cescfolch + +2.2.0 (2021-11-03) +------------------ +* Merge branch 'omni_base_robot' into 'erbium-devel' + Omni base robot + See merge request robots/tiago_robot!137 +* modified the .em file in order to generate the joy config files +* Fixed copy paste error +* Added speed limits to the joystick commands for the lateral mouvements +* added dynamic footprint configuration for tiago with omni_base +* preparing configuration for a tiago with omni base +* Contributors: antoniobrandi, saikishor + +2.1.5 (2021-09-22) +------------------ +* Merge branch 'offer-motion' into 'erbium-devel' + Open robotiq-2f-85 in offer motion + See merge request robots/tiago_robot!135 +* fix: open robotiq-2f-85 in offer motion +* Contributors: victor, yueerro + +2.1.4 (2021-08-31) +------------------ + +2.1.3 (2021-08-06) +------------------ +* Merge branch 'robotiq-impedance-issues' into 'erbium-devel' + fix: missing chain definition for robotiq gripper + See merge request robots/tiago_robot!131 +* fix: hey5 colliding with floor +* Contributors: daniellopez, saikishor + +2.1.2 (2021-07-16) +------------------ + +2.1.1 (2021-06-01) +------------------ + +2.1.0 (2021-05-06) +------------------ +* Merge branch 'robotiq_gripper' into 'erbium-devel' + Robotiq gripper + See merge request robots/tiago_robot!125 +* address MR review comments +* run incremental action server for robotiq grippers +* Update the motions of the robotiq grippers +* generated tiago hardware configurations for the robotiq grippers +* generate joy_teleop configurations +* update the robotiq end effector naming +* generate some config files for robotiq 85 and 140 +* Contributors: Sai Kishor Kothakota, saikishor + +2.0.58 (2021-04-09) +------------------- +* Merge branch 'add-endoscopic' into 'erbium-devel' + add static_transform_publisher for endoscopic and its optical frame + See merge request robots/tiago_robot!124 +* add static_transform_publisher for endoscopic and its optical frame +* Contributors: saikishor, yueerro + +2.0.57 (2021-03-19) +------------------- + +2.0.56 (2021-03-01) +------------------- + +2.0.55 (2021-01-15) +------------------- + +2.0.54 (2020-09-08) +------------------- +* Merge branch 'new-endoscopic-dual' into 'erbium-devel' + New endoscopic dual + See merge request robots/tiago_robot!118 +* make it executable +* remove confirmation prompts +* change logit to run script in different terminals and ony one fucntion +* Merge branch 'new-endoscopic-dual' of gitlab:robots/tiago_robot into new-endoscopic-dual +* enable automatic two cameras simultaneously using script +* modify args using index to run dual +* choose camera by serial (not working as serials are equal +* automate runing endoscopic depending on vendor/product +* adapt end_effector_camera.lauch to accpet arguments and 2 cameras +* enable automatic two cameras simultaneously using script +* modify args using index to run dual +* choose camera by serial (not working as serials are equal +* automate runing endoscopic depending on vendor/product +* adapt end_effector_camera.lauch to accpet arguments and 2 cameras +* Contributors: daniellopez, saikishor + +2.0.53 (2020-07-30) +------------------- +* Merge branch 'rename_tf_prefix' into 'erbium-devel' + Rename tf_prefix to robot_namespace + See merge request robots/tiago_robot!104 +* Rename tf_prefix to robot_namespace +* Contributors: davidfernandez, victor + +2.0.52 (2020-07-27) +------------------- + +2.0.51 (2020-07-15) +------------------- + +2.0.50 (2020-07-10) +------------------- +* Merge branch 'add-no-safety-eps' into 'erbium-devel' + Add the option of disabling arm_safety_eps via launch file + See merge request robots/tiago_robot!115 +* Remove redundant parameter +* Add the option of disabling arm_safety_eps via launch file +* Contributors: Victor Lopez, victor + +2.0.49 (2020-07-01) +------------------- +* Merge branch 'add-master-calibration' into 'erbium-devel' + Add master calibration compatibility for eye hand and extrinsic + See merge request robots/tiago_robot!114 +* Use multipliers from master_calibration if available +* Contributors: Victor Lopez, victor + +2.0.48 (2020-06-10) +------------------- + +2.0.47 (2020-05-15) +------------------- + +2.0.46 (2020-05-13) +------------------- + +2.0.45 (2020-05-12) +------------------- + +2.0.44 (2020-05-12) +------------------- + +2.0.43 (2020-05-08) +------------------- + +2.0.42 (2020-05-07) +------------------- + +2.0.41 (2020-05-07) +------------------- + +2.0.40 (2020-05-06) +------------------- + +2.0.39 (2020-04-21) +------------------- +* Merge branch 'custom-ee' into 'erbium-devel' + Allow using custom end-effector + See merge request robots/tiago_robot!102 +* Add parameter files for custom EE +* Add hardware for custom +* Allow using custom end-effector +* Contributors: davidfernandez, victor + 2.0.38 (2020-02-27) ------------------- diff --git a/tiago_bringup/CMakeLists.txt b/tiago_bringup/CMakeLists.txt index 15342aa3..09e821b3 100644 --- a/tiago_bringup/CMakeLists.txt +++ b/tiago_bringup/CMakeLists.txt @@ -3,6 +3,12 @@ project(tiago_bringup) find_package(catkin REQUIRED) catkin_package() + +install(PROGRAMS + scripts/end_effector_camera.sh + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + foreach(dir config launch) install(DIRECTORY ${dir}/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) diff --git a/tiago_bringup/config/approach_planner/approach_planner.yaml.em b/tiago_bringup/config/approach_planner/approach_planner.yaml.em index 843887b2..8eb27de4 100644 --- a/tiago_bringup/config/approach_planner/approach_planner.yaml.em +++ b/tiago_bringup/config/approach_planner/approach_planner.yaml.em @@ -19,7 +19,7 @@ approach_planner: - gripper_left_finger_joint - gripper_right_finger_joint @[end if]@ -@[if end_effector == "schunk-wsg"]@ +@[if end_effector in ["schunk-wsg", "robotiq-2f-85", "robotiq-2f-140"]]@ - gripper_finger_joint @[end if]@ joint_tolerance: 0.01 diff --git a/tiago_bringup/config/approach_planner/approach_planner_custom.yaml b/tiago_bringup/config/approach_planner/approach_planner_custom.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_custom.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_custom_schunk-ft.yaml b/tiago_bringup/config/approach_planner/approach_planner_custom_schunk-ft.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_custom_schunk-ft.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_no-ee.yaml b/tiago_bringup/config/approach_planner/approach_planner_no-ee.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_no-ee.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_no-ee_schunk-ft.yaml b/tiago_bringup/config/approach_planner/approach_planner_no-ee_schunk-ft.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_no-ee_schunk-ft.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140.yaml new file mode 100644 index 00000000..e24ea3e0 --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140.yaml @@ -0,0 +1,13 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + - gripper_finger_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140_schunk-ft.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140_schunk-ft.yaml new file mode 100644 index 00000000..e24ea3e0 --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-140_schunk-ft.yaml @@ -0,0 +1,13 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + - gripper_finger_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85.yaml new file mode 100644 index 00000000..e24ea3e0 --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85.yaml @@ -0,0 +1,13 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + - gripper_finger_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85_schunk-ft.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85_schunk-ft.yaml new file mode 100644 index 00000000..e24ea3e0 --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-2f-85_schunk-ft.yaml @@ -0,0 +1,13 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + - gripper_finger_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick_schunk-ft.yaml b/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick_schunk-ft.yaml new file mode 100644 index 00000000..2c37a2fb --- /dev/null +++ b/tiago_bringup/config/approach_planner/approach_planner_robotiq-epick_schunk-ft.yaml @@ -0,0 +1,12 @@ +#Autogenerated file, don't edit this, edit approach_planner.yaml.em instead +disable_motion_planning: false +approach_planner: + planning_groups: # Sorted by order of preference + - arm_torso + - arm + exclude_from_planning_joints: + - head_1_joint + - head_2_joint + joint_tolerance: 0.01 + skip_planning_approach_vel: 0.5 + skip_planning_approach_min_dur: 0.5 diff --git a/tiago_bringup/config/dynamic_footprint_arm_no-ee.yaml b/tiago_bringup/config/dynamic_footprint_arm_no-ee.yaml new file mode 100644 index 00000000..7e7f819c --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_no-ee.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'arm_tool_link', + 'base_sonar_01_link', + 'base_sonar_02_link', + 'base_sonar_03_link', + 'wheel_right_link', + 'wheel_left_link', + 'base_laser_link'] +padding: 0.05 \ No newline at end of file diff --git a/tiago_bringup/config/dynamic_footprint_arm_no-ee_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_no-ee_omni.yaml new file mode 100644 index 00000000..05359aac --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_no-ee_omni.yaml @@ -0,0 +1,14 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'arm_tool_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_omni.yaml new file mode 100644 index 00000000..05359aac --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_omni.yaml @@ -0,0 +1,14 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'arm_tool_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_pal-gripper_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_pal-gripper_omni.yaml new file mode 100644 index 00000000..4e07c157 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_pal-gripper_omni.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'gripper_left_finger_link', + 'gripper_right_finger_link'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_pal-hey5_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_pal-hey5_omni.yaml new file mode 100644 index 00000000..00ad3ade --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_pal-hey5_omni.yaml @@ -0,0 +1,16 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'hand_thumb_link', + 'hand_mrl_link', + 'hand_index_link'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140.yaml new file mode 100644 index 00000000..8c234175 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140.yaml @@ -0,0 +1,16 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'base_sonar_01_link', + 'base_sonar_02_link', + 'base_sonar_03_link', + 'wheel_right_link', + 'wheel_left_link', + 'base_laser_link', + 'gripper_left_inner_finger_pad', + 'gripper_right_inner_finger_pad'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140_omni.yaml new file mode 100644 index 00000000..ef354188 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-140_omni.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'gripper_left_inner_finger_pad', + 'gripper_right_inner_finger_pad'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85.yaml new file mode 100644 index 00000000..8c234175 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85.yaml @@ -0,0 +1,16 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'base_sonar_01_link', + 'base_sonar_02_link', + 'base_sonar_03_link', + 'wheel_right_link', + 'wheel_left_link', + 'base_laser_link', + 'gripper_left_inner_finger_pad', + 'gripper_right_inner_finger_pad'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85_omni.yaml new file mode 100644 index 00000000..ef354188 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-2f-85_omni.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'gripper_left_inner_finger_pad', + 'gripper_right_inner_finger_pad'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick.yaml new file mode 100644 index 00000000..68772a91 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'base_sonar_01_link', + 'base_sonar_02_link', + 'base_sonar_03_link', + 'wheel_right_link', + 'wheel_left_link', + 'base_laser_link', + 'gripper_end_effector'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick_omni.yaml new file mode 100644 index 00000000..a17b2a58 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_robotiq-epick_omni.yaml @@ -0,0 +1,14 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'gripper_end_effector'] +padding: 0.05 diff --git a/tiago_bringup/config/dynamic_footprint_arm_schunk-wsg_omni.yaml b/tiago_bringup/config/dynamic_footprint_arm_schunk-wsg_omni.yaml new file mode 100644 index 00000000..4e07c157 --- /dev/null +++ b/tiago_bringup/config/dynamic_footprint_arm_schunk-wsg_omni.yaml @@ -0,0 +1,15 @@ +link_list: ['arm_1_link', + 'arm_2_link', + 'arm_3_link', + 'arm_4_link', + 'arm_5_link', + 'arm_6_link', + 'arm_7_link', + 'wheel_front_right_link', + 'wheel_rear_right_link', + 'wheel_front_left_link', + 'wheel_rear_left_link', + 'virtual_base_laser_link', + 'gripper_left_finger_link', + 'gripper_right_finger_link'] +padding: 0.05 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop.yaml.em b/tiago_bringup/config/joy_teleop/joy_teleop.yaml.em index 1e58cffe..ebe8722a 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop.yaml.em +++ b/tiago_bringup/config/joy_teleop/joy_teleop.yaml.em @@ -1,18 +1,4 @@ teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -102,7 +88,6 @@ teleop: skip_planning: True buttons: [5] @[end if]@ - @[if end_effector == "pal-gripper"]@ close_gripper: type: action @@ -118,7 +103,6 @@ teleop: increment_by: [0.01, 0.01] buttons: [5] # R1 @[end if]@ - @[if end_effector == "schunk-wsg"]@ close_gripper: type: action @@ -134,3 +118,39 @@ teleop: increment_by: [0.01] buttons: [5] # R1 @[end if]@ +@[if end_effector in ["robotiq-2f-85", "robotiq-2f-140"]]@ + close_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [0.1] + buttons: [7] # R2 + + open_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [-0.1] + buttons: [5] # R1 +@[end if]@ +@[if end_effector == "robotiq-epick"]@ + close_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 1.0 + deadman_buttons: [7] # R2 + + open_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 0.0 + deadman_buttons: [5] # R1 +@[end if]@ \ No newline at end of file diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_custom.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_custom.yaml new file mode 100644 index 00000000..1e3d94f3 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_custom.yaml @@ -0,0 +1,74 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_custom_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_custom_schunk-ft.yaml new file mode 100644 index 00000000..1e3d94f3 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_custom_schunk-ft.yaml @@ -0,0 +1,74 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_move.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_move.yaml new file mode 100644 index 00000000..d618b3b8 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_move.yaml @@ -0,0 +1,15 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + move: + type: topic + message_type: geometry_msgs/Twist + topic_name: cmd_vel + axis_mappings: + - + axis: 1 + target: linear.x + scale: 1.0 + - + axis: 2 + target: angular.z + scale: 1.0 \ No newline at end of file diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_move_omni.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_move_omni.yaml new file mode 100644 index 00000000..da6151a5 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_move_omni.yaml @@ -0,0 +1,19 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + move: + type: topic + message_type: geometry_msgs/Twist + topic_name: cmd_vel + axis_mappings: + - + axis: 1 + target: linear.x + scale: 1.0 + - + axis: 0 + target: linear.y + scale: 1.0 + - + axis: 2 + target: angular.z + scale: 1.0 \ No newline at end of file diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_no-arm.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_no-arm.yaml index affde5ca..1e3d94f3 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_no-arm.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_no-arm.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -86,5 +72,3 @@ teleop: increment_by: [0, -0.1] buttons: [1] # right pad, right button - - diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_no-ee.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_no-ee.yaml new file mode 100644 index 00000000..1e3d94f3 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_no-ee.yaml @@ -0,0 +1,74 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_no-ee_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_no-ee_schunk-ft.yaml new file mode 100644 index 00000000..1e3d94f3 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_no-ee_schunk-ft.yaml @@ -0,0 +1,74 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper.yaml index 9fdbe11c..e5098eeb 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -86,7 +72,6 @@ teleop: increment_by: [0, -0.1] buttons: [1] # right pad, right button - close_gripper: type: action action_name: /gripper_controller/increment @@ -100,4 +85,3 @@ teleop: action_goal: increment_by: [0.01, 0.01] buttons: [5] # R1 - diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper_schunk-ft.yaml index 9fdbe11c..e5098eeb 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper_schunk-ft.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_pal-gripper_schunk-ft.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -86,7 +72,6 @@ teleop: increment_by: [0, -0.1] buttons: [1] # right pad, right button - close_gripper: type: action action_name: /gripper_controller/increment @@ -100,4 +85,3 @@ teleop: action_goal: increment_by: [0.01, 0.01] buttons: [5] # R1 - diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5.yaml index 8456b0cf..fb696335 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -101,5 +87,3 @@ teleop: motion_name: 'open_hand' skip_planning: True buttons: [5] - - diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5_schunk-ft.yaml index 8456b0cf..fb696335 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5_schunk-ft.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_pal-hey5_schunk-ft.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -101,5 +87,3 @@ teleop: motion_name: 'open_hand' skip_planning: True buttons: [5] - - diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140.yaml new file mode 100644 index 00000000..613adf03 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140.yaml @@ -0,0 +1,87 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [0.1] + buttons: [7] # R2 + + open_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [-0.1] + buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140_schunk-ft.yaml new file mode 100644 index 00000000..613adf03 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-140_schunk-ft.yaml @@ -0,0 +1,87 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [0.1] + buttons: [7] # R2 + + open_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [-0.1] + buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85.yaml new file mode 100644 index 00000000..613adf03 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85.yaml @@ -0,0 +1,87 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [0.1] + buttons: [7] # R2 + + open_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [-0.1] + buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85_schunk-ft.yaml new file mode 100644 index 00000000..613adf03 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-2f-85_schunk-ft.yaml @@ -0,0 +1,87 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [0.1] + buttons: [7] # R2 + + open_gripper: + type: action + action_name: /gripper_controller/increment + action_goal: + increment_by: [-0.1] + buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick.yaml new file mode 100644 index 00000000..1e4ea2c4 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick.yaml @@ -0,0 +1,93 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 1.0 + deadman_buttons: [7] # R2 + + open_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 0.0 + deadman_buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick_schunk-ft.yaml new file mode 100644 index 00000000..1e4ea2c4 --- /dev/null +++ b/tiago_bringup/config/joy_teleop/joy_teleop_robotiq-epick_schunk-ft.yaml @@ -0,0 +1,93 @@ +#Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead +teleop: + joy_priority: + type: action + action_name: joy_priority_action + buttons: [9] + + joy_turbo_decrease: + type: action + action_name: joy_turbo_decrease + buttons: [8, 1] + + joy_turbo_increase: + type: action + action_name: joy_turbo_increase + buttons: [8, 3] + + joy_turbo_angular_decrease: + type: action + action_name: joy_turbo_angular_decrease + buttons: [8, 2] + + joy_turbo_angular_increase: + type: action + action_name: joy_turbo_angular_increase + buttons: [8, 0] + + joy_turbo_reset: + type: action + action_name: joy_turbo_reset + buttons: [10, 11] + + torso_up: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [0.05] + buttons: [4] # right pad, top button + + torso_down: + type: action + action_name: /torso_controller/increment + action_goal: + increment_by: [-0.05] + buttons: [6] # right pad, bottom button + + head_down: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [-0.1, 0] + buttons: [2] # right pad, bottom button + + head_up: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0.1, 0] + buttons: [0] # right pad, top button + + head_left: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, 0.1] + buttons: [3] # right pad, left button + + head_right: + type: action + action_name: /head_controller/increment + action_goal: + increment_by: [0, -0.1] + buttons: [1] # right pad, right button + + close_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 1.0 + deadman_buttons: [7] # R2 + + open_gripper: + type: topic + message_type: std_msgs/Float64 + topic_name: /gripper_controller/command + message_value: + - + target: data + value: 0.0 + deadman_buttons: [5] # R1 diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg.yaml index bab537de..1f5783a3 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -86,8 +72,6 @@ teleop: increment_by: [0, -0.1] buttons: [1] # right pad, right button - - close_gripper: type: action action_name: /gripper_controller/increment diff --git a/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg_schunk-ft.yaml b/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg_schunk-ft.yaml index bab537de..1f5783a3 100644 --- a/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg_schunk-ft.yaml +++ b/tiago_bringup/config/joy_teleop/joy_teleop_schunk-wsg_schunk-ft.yaml @@ -1,19 +1,5 @@ #Autogenerated file, don't edit this, edit joy_teleop.yaml.em instead teleop: - move: - type: topic - message_type: geometry_msgs/Twist - topic_name: cmd_vel - axis_mappings: - - - axis: 1 - target: linear.x - scale: 1.0 - - - axis: 2 - target: angular.z - scale: 1.0 - joy_priority: type: action action_name: joy_priority_action @@ -86,8 +72,6 @@ teleop: increment_by: [0, -0.1] buttons: [1] # right pad, right button - - close_gripper: type: action action_name: /gripper_controller/increment diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_custom.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_custom.yaml new file mode 100644 index 00000000..fe82fd48 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_custom.yaml @@ -0,0 +1,189 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_custom_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_custom_schunk-ft.yaml new file mode 100644 index 00000000..fe82fd48 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_custom_schunk-ft.yaml @@ -0,0 +1,189 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/tiago_motions_no-arm.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_no-arm.yaml similarity index 100% rename from tiago_bringup/config/motions/tiago_motions_no-arm.yaml rename to tiago_bringup/config/motions/omni_base/tiago_motions_no-arm.yaml diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee.yaml new file mode 100644 index 00000000..987928ea --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee.yaml @@ -0,0 +1,190 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee_schunk-ft.yaml new file mode 100644 index 00000000..987928ea --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_no-ee_schunk-ft.yaml @@ -0,0 +1,190 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper.yaml new file mode 100644 index 00000000..0571dd7b --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper.yaml @@ -0,0 +1,305 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + #deprecated use close + close_gripper: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + + close: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Close Gripper' + + #deprecated use close_half + close_gripper_half: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.024, 0.024] + time_from_start: 0.5 + + close_half: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.024, 0.024] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Close Gripper Halfway' + + #deprecated use open + open_gripper: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.044, 0.044] + time_from_start: 0.5 + + open: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.044, 0.044] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open Gripper' + + point: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + meta: + name: Point Gripper Pose + usage: demo + description: 'Close Gripper to point to something' + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_right_finger_joint', 'gripper_left_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.044, 0.044] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_right_finger_joint', 'gripper_left_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.044, 0.044] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_left_finger_joint', 'gripper_right_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.044, 0.044, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.044, 0.044, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_left_finger_joint', 'gripper_right_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.044, 0.044] + time_from_start: 0.0 + - positions: [0.18, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.044, 0.044] + time_from_start: 4.0 + - positions: [0.18, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper_schunk-ft.yaml new file mode 100644 index 00000000..0571dd7b --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-gripper_schunk-ft.yaml @@ -0,0 +1,305 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + #deprecated use close + close_gripper: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + + close: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Close Gripper' + + #deprecated use close_half + close_gripper_half: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.024, 0.024] + time_from_start: 0.5 + + close_half: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.024, 0.024] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Close Gripper Halfway' + + #deprecated use open + open_gripper: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.044, 0.044] + time_from_start: 0.5 + + open: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.044, 0.044] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open Gripper' + + point: + joints: [gripper_left_finger_joint, gripper_right_finger_joint] + points: + - positions: [0.0, 0.0] + time_from_start: 0.5 + meta: + name: Point Gripper Pose + usage: demo + description: 'Close Gripper to point to something' + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_right_finger_joint', 'gripper_left_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.044, 0.044] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_right_finger_joint', 'gripper_left_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.044, 0.044] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_left_finger_joint', 'gripper_right_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.044, 0.044, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.035, 0.035, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.044, 0.044, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_left_finger_joint', 'gripper_right_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.044, 0.044] + time_from_start: 0.0 + - positions: [0.18, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.044, 0.044] + time_from_start: 4.0 + - positions: [0.18, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5.yaml new file mode 100644 index 00000000..293e9955 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5.yaml @@ -0,0 +1,352 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, hand_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + #deprecated a use open + open_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 0.0] + time_from_start: 2.5 + + open: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 0.0] + time_from_start: 2.5 + meta: + name: Open Hand + usage: demo + description: 'Opens hand' + + + #deprecated a use close + close_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, 0.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 6.8, 9.2] + time_from_start: 2.5 + + close: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, 0.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 6.8, 9.2] + time_from_start: 2.5 + meta: + name: Close Hand + usage: demo + description: 'Closes hand' + + close_half: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [3.2, 3.8, 4.6] + time_from_start: 2.5 + meta: + name: Close Hand Half + usage: demo + description: 'Closes hand halfway' + + #deprecated a use point + pointing_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, -1.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 0.0, 9.2] + time_from_start: 1.5 + + point: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, -1.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 0.0, 9.2] + time_from_start: 1.5 + meta: + name: Pointing Hand + usage: demo + description: 'Pointing Hand' + gun_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, 0.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 9.2] + time_from_start: 1.5 + meta: + name: Gun Hand + usage: demo + description: 'gun_hand' + + thumb_up_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, 0.0, 0.0] + time_from_start: 0.1 + - positions: [0.0, 6.8, 9.2] + time_from_start: 1.5 + meta: + name: Thumb Up Hand + usage: demo + description: 'thumb_up_hand' + + pinch_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [0.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [3.37, 4.0, 0.0] + time_from_start: 1.5 + meta: + name: Pinch Hand + usage: demo + description: 'pinch_hand' + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + #deprecated, use offer + offer_hand: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, -0.001, -0.0, -0.001] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, -0.001, -0.0, -0.001] + time_from_start: 0.0 + meta: + name: Offer Hand + usage: demo + description: 'Offer hand' + + shake_hands: + joints: ['hand_thumb_joint','hand_index_joint','hand_mrl_joint','torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.0, 0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.0, 0.0, 0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.226, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 6.2, 6.77, 8.8] + time_from_start: 6.0 + - positions: [0.226, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5_schunk-ft.yaml new file mode 100644 index 00000000..293e9955 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_pal-hey5_schunk-ft.yaml @@ -0,0 +1,352 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, hand_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + #deprecated a use open + open_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 0.0] + time_from_start: 2.5 + + open: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 0.0] + time_from_start: 2.5 + meta: + name: Open Hand + usage: demo + description: 'Opens hand' + + + #deprecated a use close + close_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, 0.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 6.8, 9.2] + time_from_start: 2.5 + + close: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, 0.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 6.8, 9.2] + time_from_start: 2.5 + meta: + name: Close Hand + usage: demo + description: 'Closes hand' + + close_half: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [3.2, 3.8, 4.6] + time_from_start: 2.5 + meta: + name: Close Hand Half + usage: demo + description: 'Closes hand halfway' + + #deprecated a use point + pointing_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, -1.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 0.0, 9.2] + time_from_start: 1.5 + + point: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [2.37, -1.0, 0.0] + time_from_start: 0.1 + - positions: [6.2, 0.0, 9.2] + time_from_start: 1.5 + meta: + name: Pointing Hand + usage: demo + description: 'Pointing Hand' + gun_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, -1.0, 0.0] + time_from_start: 0.1 + - positions: [0.0, 0.0, 9.2] + time_from_start: 1.5 + meta: + name: Gun Hand + usage: demo + description: 'gun_hand' + + thumb_up_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [-1.0, 0.0, 0.0] + time_from_start: 0.1 + - positions: [0.0, 6.8, 9.2] + time_from_start: 1.5 + meta: + name: Thumb Up Hand + usage: demo + description: 'thumb_up_hand' + + pinch_hand: + joints: [hand_thumb_joint, hand_index_joint, hand_mrl_joint] + points: + - positions: [0.0, -1.0, -1.0] + time_from_start: 0.1 + - positions: [3.37, 4.0, 0.0] + time_from_start: 1.5 + meta: + name: Pinch Hand + usage: demo + description: 'pinch_hand' + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + #deprecated, use offer + offer_hand: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, -0.001, -0.0, -0.001] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, -0.001, -0.0, -0.001] + time_from_start: 0.0 + meta: + name: Offer Hand + usage: demo + description: 'Offer hand' + + shake_hands: + joints: ['hand_thumb_joint','hand_index_joint','hand_mrl_joint','torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.0, 0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [6.2, 6.8, 9.2, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.0, 0.0, 0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.226, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 6.2, 6.77, 8.8] + time_from_start: 6.0 + - positions: [0.226, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140.yaml new file mode 100644 index 00000000..fd727408 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.0] + time_from_start: 0.0 + - positions: [0.24, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 4.0 + - positions: [0.24, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.65] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.65] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140_schunk-ft.yaml new file mode 100644 index 00000000..fd727408 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-140_schunk-ft.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.0] + time_from_start: 0.0 + - positions: [0.24, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 4.0 + - positions: [0.24, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.65] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.65] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85.yaml new file mode 100644 index 00000000..cd63b516 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.0] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.75] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.75] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85_schunk-ft.yaml new file mode 100644 index 00000000..cd63b516 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-2f-85_schunk-ft.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.0] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.75] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.75] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick.yaml new file mode 100644 index 00000000..02b4eb25 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick.yaml @@ -0,0 +1,228 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick_schunk-ft.yaml new file mode 100644 index 00000000..02b4eb25 --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_robotiq-epick_schunk-ft.yaml @@ -0,0 +1,228 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg.yaml new file mode 100644 index 00000000..6e478cad --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg.yaml @@ -0,0 +1,307 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.015] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.015] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.031] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.031] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.031] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.031] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.031, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.031, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.031] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.031] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg_schunk-ft.yaml b/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg_schunk-ft.yaml new file mode 100644 index 00000000..6e478cad --- /dev/null +++ b/tiago_bringup/config/motions/omni_base/tiago_motions_schunk-wsg_schunk-ft.yaml @@ -0,0 +1,307 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.015] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.015] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.031] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.031] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.031] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.031] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.031, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.025, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.031, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.031] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.031] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_custom.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_custom.yaml new file mode 100644 index 00000000..fe82fd48 --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_custom.yaml @@ -0,0 +1,189 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_custom_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_custom_schunk-ft.yaml new file mode 100644 index 00000000..fe82fd48 --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_custom_schunk-ft.yaml @@ -0,0 +1,189 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_no-arm.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_no-arm.yaml new file mode 100644 index 00000000..77acec23 --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_no-arm.yaml @@ -0,0 +1,40 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint] + points: + - positions: [0.15] + time_from_start: 3.0 + meta: + name: Home + usage: demo + description: 'Go home' + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee.yaml new file mode 100644 index 00000000..987928ea --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee.yaml @@ -0,0 +1,190 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee_schunk-ft.yaml new file mode 100644 index 00000000..987928ea --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_no-ee_schunk-ft.yaml @@ -0,0 +1,190 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/tiago_motions_pal-gripper.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper.yaml similarity index 95% rename from tiago_bringup/config/motions/tiago_motions_pal-gripper.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper.yaml index 5be40b12..36956ba8 100644 --- a/tiago_bringup/config/motions/tiago_motions_pal-gripper.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper.yaml @@ -58,7 +58,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,9 +70,9 @@ play_motion: points: - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -201,15 +201,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -268,7 +268,7 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] time_from_start: 9.0 meta: name: Pick from floor @@ -278,6 +278,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/tiago_motions_pal-gripper_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper_schunk-ft.yaml similarity index 95% rename from tiago_bringup/config/motions/tiago_motions_pal-gripper_schunk-ft.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper_schunk-ft.yaml index 5be40b12..36956ba8 100644 --- a/tiago_bringup/config/motions/tiago_motions_pal-gripper_schunk-ft.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-gripper_schunk-ft.yaml @@ -58,7 +58,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,9 +70,9 @@ play_motion: points: - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -201,15 +201,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -268,7 +268,7 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] time_from_start: 9.0 meta: name: Pick from floor @@ -278,6 +278,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/tiago_motions_pal-hey5.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5.yaml similarity index 94% rename from tiago_bringup/config/motions/tiago_motions_pal-hey5.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5.yaml index e987e536..a2a3d090 100644 --- a/tiago_bringup/config/motions/tiago_motions_pal-hey5.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5.yaml @@ -58,7 +58,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,9 +70,9 @@ play_motion: points: - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -248,15 +248,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -309,11 +309,11 @@ play_motion: points: - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0, -0.001, -0.0] time_from_start: 0.0 - - positions: [0.0, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0, -0.001, -0.0] + - positions: [0.06, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0, -0.001, -0.0] time_from_start: 4.0 - - positions: [0.0, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] + - positions: [0.06, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] time_from_start: 6.0 - - positions: [0.158, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + - positions: [0.158, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] time_from_start: 9.0 meta: name: Pick from floor @@ -325,6 +325,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/tiago_motions_pal-hey5_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5_schunk-ft.yaml similarity index 95% rename from tiago_bringup/config/motions/tiago_motions_pal-hey5_schunk-ft.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5_schunk-ft.yaml index a33e5a54..6b147fd3 100644 --- a/tiago_bringup/config/motions/tiago_motions_pal-hey5_schunk-ft.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_pal-hey5_schunk-ft.yaml @@ -58,7 +58,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,9 +70,9 @@ play_motion: points: - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -248,15 +248,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -313,7 +313,7 @@ play_motion: time_from_start: 4.0 - positions: [0.08, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] time_from_start: 6.0 - - positions: [0.158, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + - positions: [0.158, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] time_from_start: 9.0 meta: name: Pick from floor @@ -325,6 +325,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140.yaml new file mode 100644 index 00000000..3547a49c --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0] + time_from_start: 0.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0] + time_from_start: 4.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.65] + time_from_start: 6.0 + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.65] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140_schunk-ft.yaml new file mode 100644 index 00000000..3547a49c --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-140_schunk-ft.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.50, -1.34, -0.48, 1.94, -1.49, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.35] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.7] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0] + time_from_start: 0.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0] + time_from_start: 4.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.65] + time_from_start: 6.0 + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.65] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85.yaml new file mode 100644 index 00000000..ac7ab66e --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0] + time_from_start: 0.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0] + time_from_start: 4.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.75] + time_from_start: 6.0 + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.75] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85_schunk-ft.yaml new file mode 100644 index 00000000..ac7ab66e --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-2f-85_schunk-ft.yaml @@ -0,0 +1,306 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller, gripper_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 7.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 9.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [0.4] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [0.8] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0] + time_from_start: 0.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0] + time_from_start: 4.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.75] + time_from_start: 6.0 + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.75] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick.yaml new file mode 100644 index 00000000..02b4eb25 --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick.yaml @@ -0,0 +1,228 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick_schunk-ft.yaml new file mode 100644 index 00000000..02b4eb25 --- /dev/null +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_robotiq-epick_schunk-ft.yaml @@ -0,0 +1,228 @@ +#Autogenerated file, don't edit this, edit tiago_motions.yaml.em instead +play_motion: + controllers: [arm_controller, head_controller, torso_controller] + + motions: + home: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 4.0 + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 7.0 + meta: + name: Home + usage: demo + description: 'Go home' + + unfold_arm: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.30, 0.21, 0.35, -0.2, 0.8, -1.57, 1.37, 0.0] + time_from_start: 0.5 + - positions: [0.30, 0.21, -0.2, -2.2, 1.15, -1.57, 0.2, 0.0] + time_from_start: 6.0 + meta: + name: Unfold arm + usage: demo + description: 'unfold_arm' + + reach_floor: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.19, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.19, 1.6, -0.55, -1.35, 1.40, -1.57, -0.07, 0.0] + time_from_start: 3.0 + - positions: [0.16, 1.6, -0.55, 0, 1.03, -1.57, -0.07, 0.0] + time_from_start: 7.0 + meta: + name: Reach Floor + usage: demo + description: 'Reach floor' + + reach_max: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] + time_from_start: 4.0 + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] + time_from_start: 7.0 + meta: + name: Reach Max + usage: demo + description: 'Reach max' + + prepare_grasp: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + time_from_start: 3.0 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + time_from_start: 8.5 + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + time_from_start: 10.5 + meta: + name: Prepare Grasp + usage: demo + description: 'Prepare grasp position' + + inspect_surroundings: + joints: ['head_1_joint', 'head_2_joint'] + points: + - positions: [-1., -0.85] + time_from_start: 1.5 + - positions: [-1., -0.85] + time_from_start: 2.0 + - positions: [1., -0.85] + time_from_start: 4.5 + - positions: [1., -0.85] + time_from_start: 5.0 + - positions: [0., -0.85] + time_from_start: 7.0 + meta: + name: Inspect Surroundings + usage: demo + description: 'Inspect surroundings around the robot' + + + + + + + + wave: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, + arm_5_joint, arm_6_joint, arm_7_joint] + points: + - positions: [0.09, -0.679638896132783, -3.1087325315620733, 2.0882339360702575, -1.1201172410014792, -0.031008601325809293, -2.0] + time_from_start: 0.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 1.0 + - positions: [0.09, -0.7231278283145929, -2.9385504456273295, 2.18, -1.1201355028397157, -0.031008601325809293, -2.04] + time_from_start: 2.0 + - positions: [0.09, -0.7354151774072313, -2.939624246421942, 1.8341256735249563, -1.1201355028397157, -0.031008601325809293, -2.0] + time_from_start: 3.0 + meta: + name: Wave + usage: demo + description: 'wave' + + pregrasp_weight: + joints: [torso_lift_joint, arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [0.10, 1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + meta: + name: Pregrasp Weight + usage: demo + description: 'Pregrasp weight' + + do_weights: + joints: [arm_1_joint, + arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, + arm_6_joint, arm_7_joint] + points: + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 1.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 2.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 4.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 6.0 + - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] + time_from_start: 8.0 + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] + time_from_start: 10.0 + - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] + time_from_start: 12.0 + meta: + name: Do Weights + usage: demo + description: 'Do weights' + + + + + + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + + + + head_tour: + joints: [head_1_joint, head_2_joint] + points: + - positions: [0, 0] + time_from_start: 0.1 + - positions: [0.7, 0] + time_from_start: 3.0 + - positions: [0.7, 0.3] + time_from_start: 6.0 + - positions: [0.7, -0.3] + time_from_start: 9.0 + - positions: [0.7, 0.3] + time_from_start: 12.0 + - positions: [-0.7, 0.3] + time_from_start: 15.0 + - positions: [-0.7, -0.3] + time_from_start: 18.0 + - positions: [0, 0] + time_from_start: 21.0 + meta: + name: Head Tour + usage: demo + description: 'head_tour' + diff --git a/tiago_bringup/config/motions/tiago_motions_schunk-wsg.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg.yaml similarity index 95% rename from tiago_bringup/config/motions/tiago_motions_schunk-wsg.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg.yaml index 63ba08ed..aca0ad93 100644 --- a/tiago_bringup/config/motions/tiago_motions_schunk-wsg.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg.yaml @@ -8,11 +8,11 @@ play_motion: arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] points: - - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 0.5 - - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 4.0 - - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 7.0 - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 9.0 @@ -60,7 +60,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,11 +70,11 @@ play_motion: prepare_grasp: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] points: - - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -202,15 +202,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -270,7 +270,7 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] time_from_start: 9.0 meta: name: Pick from floor @@ -280,6 +280,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/tiago_motions_schunk-wsg_schunk-ft.yaml b/tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg_schunk-ft.yaml similarity index 95% rename from tiago_bringup/config/motions/tiago_motions_schunk-wsg_schunk-ft.yaml rename to tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg_schunk-ft.yaml index 63ba08ed..aca0ad93 100644 --- a/tiago_bringup/config/motions/tiago_motions_schunk-wsg_schunk-ft.yaml +++ b/tiago_bringup/config/motions/pmb2/tiago_motions_schunk-wsg_schunk-ft.yaml @@ -8,11 +8,11 @@ play_motion: arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] points: - - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 0.5 - - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 4.0 - - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 7.0 - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] time_from_start: 9.0 @@ -60,7 +60,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -70,11 +70,11 @@ play_motion: prepare_grasp: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] points: - - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -202,15 +202,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -270,7 +270,7 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] time_from_start: 9.0 meta: name: Pick from floor @@ -280,6 +280,7 @@ play_motion: + head_tour: joints: [head_1_joint, head_2_joint] points: diff --git a/tiago_bringup/config/motions/tiago_motions.yaml.em b/tiago_bringup/config/motions/tiago_motions.yaml.em index bce014d0..1d8d3e43 100644 --- a/tiago_bringup/config/motions/tiago_motions.yaml.em +++ b/tiago_bringup/config/motions/tiago_motions.yaml.em @@ -2,9 +2,12 @@ play_motion: @[if end_effector == "pal-hey5"]@ controllers: [arm_controller, head_controller, torso_controller, hand_controller] @[end if]@ -@[if end_effector in ["pal-gripper", "schunk-wsg"]]@ +@[if end_effector in ["pal-gripper", "schunk-wsg", "robotiq-2f-85", "robotiq-2f-140"]]@ controllers: [arm_controller, head_controller, torso_controller, gripper_controller] @[end if]@ +@[if end_effector in ["robotiq-epick", "no-ee"]]@ + controllers: [arm_controller, head_controller, torso_controller] +@[end if]@ @[if not has_arm]@ controllers: [head_controller, torso_controller] @[end if] @@ -15,14 +18,14 @@ play_motion: arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] points: -@[if end_effector == "schunk-wsg"]@ - - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.39] +@[if end_effector in ["schunk-wsg", "robotiq-2f-85", "robotiq-2f-140"]]@ + - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, -1.58] time_from_start: 0.5 - - positions: [0.18, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.18, @[if end_effector == "robotiq-2f-140"]0.50@[else]0.20@[end if], -1.34, @[if end_effector == "robotiq-2f-140"]-0.48@[else]-0.20@[end if], 1.94, @[if end_effector == "robotiq-2f-140"]-1.49@[else]-1.57@[end if], 1.37, -1.58] time_from_start: 4.0 - - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, -1.39] + - positions: [0.15, @[if end_effector == "robotiq-2f-140"]0.50@[else]0.20@[end if], -1.34, @[if end_effector == "robotiq-2f-140"]-0.48@[else]-0.20@[end if], 1.94, @[if end_effector == "robotiq-2f-140"]-1.49@[else]-1.57@[end if], 1.37, -1.58] time_from_start: 7.0 - - positions: [0.15, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + - positions: [0.15, @[if end_effector == "robotiq-2f-140"]0.50@[else]0.20@[end if], -1.34, @[if end_effector == "robotiq-2f-140"]-0.48@[else]-0.20@[end if], 1.94, @[if end_effector == "robotiq-2f-140"]-1.49@[else]-1.57@[end if], 1.37, 0.0] time_from_start: 9.0 @[else]@ - positions: [0.25, 0.20, 0.35, -0.20, 1.94, -1.57, 1.37, 0.0] @@ -76,7 +79,7 @@ play_motion: time_from_start: 1.0 - positions: [0.35, 0.9, 0.68, -3.16, 1.10, 2.05, 1.0, 0.0] time_from_start: 4.0 - - positions: [0.35, 0.9, 1.05, -3.45, 0.45, 2.05, 1.0, 0.0] + - positions: [0.35, 0.9, 1.0, -3.45, 0.45, 2.05, 1.0, 0.0] time_from_start: 7.0 meta: name: Reach Max @@ -86,11 +89,11 @@ play_motion: prepare_grasp: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] points: - - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, 0.0] + - positions: [0.34, 0.20, -1.34, -0.20, 1.94, -1.57, 1.37, @[if end_effector in ["schunk-wsg", "robotiq-2f-85", "robotiq-2f-140"]]-1.58@[else]0.0@[end if]] time_from_start: 3.0 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, -1.58, 0.25, 0.0] time_from_start: 8.5 - - positions: [0.34, -0.12, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] + - positions: [0.34, 0.10, 0.47, -0.20, 1.56, 1.60, 0.25, 1.19] time_from_start: 10.5 meta: name: Prepare Grasp @@ -355,6 +358,68 @@ play_motion: description: 'pinch_hand' @[end if]@ +@[if end_effector in ["robotiq-2f-85", "robotiq-2f-140"]]@ + #deprecated, use close + close_gripper: + joints: [gripper_finger_joint] + points: + - positions: [@[if end_effector == "robotiq-2f-85"]0.8@[else]0.7@[end if]] + time_from_start: 0.5 + + close: + joints: [gripper_finger_joint] + points: + - positions: [@[if end_effector == "robotiq-2f-85"]0.8@[else]0.7@[end if]] + time_from_start: 0.5 + meta: + name: Close Gripper + usage: demo + description: 'Closes gripper' + + #deprecated, use close_half + close_gripper_half: + joints: [gripper_finger_joint] + points: + - positions: [@[if end_effector == "robotiq-2f-85"]0.4@[else]0.35@[end if]] + time_from_start: 0.5 + + close_half: + joints: [gripper_finger_joint] + points: + - positions: [@[if end_effector == "robotiq-2f-85"]0.4@[else]0.35@[end if]] + time_from_start: 0.5 + meta: + name: Close Gripper Half + usage: demo + description: 'Closes gripper halfway' + + #deprecated, use open + open_gripper: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + + open: + joints: [gripper_finger_joint] + points: + - positions: [0.0] + time_from_start: 0.5 + meta: + name: Open Gripper + usage: demo + description: 'Open gripper' + + point: + joints: [gripper_finger_joint] + points: + - positions: [@[if end_effector == "robotiq-2f-85"]0.8@[else]0.7@[end if]] + time_from_start: 0.5 + meta: + name: Point + usage: demo + description: 'Closes gripper to point to something' +@[end if]@ wave: joints: [arm_1_joint, @@ -393,15 +458,15 @@ play_motion: points: - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 1.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 2.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 4.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 6.0 - positions: [1.6, -0.90, -3.16, 2.0, -1.57, 0.35, 0.0] time_from_start: 8.0 - - positions: [1.6, -1.57, -3.16, 1.62, -1.57, -0.2, 0.0] + - positions: [1.6, -1.48, -3.16, 1.62, -1.57, -0.2, 0.0] time_from_start: 10.0 - positions: [1.6, -1.18, -3.16, 2.0, -1.57, -0.07, 0.0] time_from_start: 12.0 @@ -450,6 +515,23 @@ play_motion: usage: demo description: 'shake_hands' +@[if base_type == "omni_base"]@ + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] + points: + - positions: [0.226, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0, -0.001, -0.0] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 6.2, 6.77, 8.8] + time_from_start: 6.0 + - positions: [0.226, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' +@[else]@ @[if ft_sensor == "schunk-ft"]@ pick_from_floor: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'hand_thumb_joint', 'hand_index_joint', 'hand_mrl_joint'] @@ -460,7 +542,7 @@ play_motion: time_from_start: 4.0 - positions: [0.08, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] time_from_start: 6.0 - - positions: [0.158, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + - positions: [0.158, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] time_from_start: 9.0 meta: name: Pick from floor @@ -472,11 +554,11 @@ play_motion: points: - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0, -0.001, -0.0] time_from_start: 0.0 - - positions: [0.0, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0, -0.001, -0.0] + - positions: [0.06, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0, -0.001, -0.0] time_from_start: 4.0 - - positions: [0.0, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] + - positions: [0.06, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 6.2, 6.77, 8.8] time_from_start: 6.0 - - positions: [0.158, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] + - positions: [0.158, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 6.2, 6.77, 8.8] time_from_start: 9.0 meta: name: Pick from floor @@ -484,6 +566,7 @@ play_motion: description: 'Pick a shirt-like object from floor in front of the robot' @[end if]@ @[end if]@ +@[end if]@ @[if end_effector == "pal-gripper"]@ @@ -526,6 +609,23 @@ play_motion: usage: demo description: 'shake_hands' +@[if base_type == "omni_base"]@ + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_left_finger_joint', 'gripper_right_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.044, 0.044] + time_from_start: 0.0 + - positions: [0.18, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.044, 0.044] + time_from_start: 4.0 + - positions: [0.18, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' +@[else]@ pick_from_floor: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_left_finger_joint', 'gripper_right_finger_joint'] points: @@ -535,13 +635,14 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0, 0.0] time_from_start: 9.0 meta: name: Pick from floor usage: demo description: 'Pick a shirt-like object from floor in front of the robot' @[end if]@ +@[end if]@ @[if end_effector == "schunk-wsg"]@ #deprecated, use offer @@ -583,6 +684,23 @@ play_motion: usage: demo description: 'shake_hands' +@[if base_type == "omni_base"]@ + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.031] + time_from_start: 0.0 + - positions: [0.158, 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.031] + time_from_start: 4.0 + - positions: [0.158, 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' +@[else]@ pick_from_floor: joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] points: @@ -592,13 +710,129 @@ play_motion: time_from_start: 4.0 - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, 0.0] time_from_start: 6.0 - - positions: [0.27, 0.21, -1.153, -1.538, 2.306, 1.965, 0.394, -0.082, 0.0] + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, 0.0] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' +@[end if]@ + +@[end if]@ + +@[if end_effector in ["robotiq-2f-85", "robotiq-2f-140"]]@ + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577, 0.0] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['gripper_finger_joint', 'torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.0, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.3, 0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' + +@[if base_type == "omni_base"]@ + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.26, 0.90, -0.19, -0.19, 1.29, -2.03, 0.17, 1.58, 0.0] + time_from_start: 0.0 + - positions: [@[if end_effector == "robotiq-2f-85"]0.158@[else]0.24@[end if], 1.60, -0.87, 0.81, 0.38, -1.57, 0.17, 1.58, 0.0] + time_from_start: 4.0 + - positions: [@[if end_effector == "robotiq-2f-85"]0.158@[else]0.24@[end if], 1.60, -0.87, -1.18, 0.38, -1.57, 0.17, 1.58, @[if end_effector == "robotiq-2f-85"]0.75@[else]0.65@[end if]] + time_from_start: 6.0 + - positions: [0.26, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, @[if end_effector == "robotiq-2f-85"]0.75@[else]0.65@[end if]] time_from_start: 9.0 meta: name: Pick from floor usage: demo description: 'Pick a shirt-like object from floor in front of the robot' +@[else]@ + pick_from_floor: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_finger_joint'] + points: + - positions: [0.226, 0.308, -0.695, -0.968, 1.582, 1.965, 0.273, -1.101, 0.0] + time_from_start: 0.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.322, 1.96, -0.849, 0.041, 0.0] + time_from_start: 4.0 + - positions: [0.12, 0.809, -1.197, -1.119, 0.345, 1.96, -0.849, 0.041, @[if end_effector == "robotiq-2f-85"]0.75@[else]0.65@[end if]] + time_from_start: 6.0 + - positions: [0.27, 0.21, -1.153, -1.538, 2.26, 1.965, 0.394, -0.082, @[if end_effector == "robotiq-2f-85"]0.75@[else]0.65@[end if]] + time_from_start: 9.0 + meta: + name: Pick from floor + usage: demo + description: 'Pick a shirt-like object from floor in front of the robot' +@[end if]@ +@[end if]@ +@[if end_effector == "robotiq-epick"]@ + #deprecated, use offer + offer_gripper: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + offer: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.62, -1.577] + time_from_start: 0.0 + meta: + name: Offer Gripper + usage: demo + description: 'Offer Gripper' + + shake_hands: + joints: ['torso_lift_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint'] + points: + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 0.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 5.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 6.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 7.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.40, -1.577, -0.2, -1.577] + time_from_start: 8.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 9.0 + - positions: [0.296, 1.61, -0.93, -3.14, 1.83, -1.577, -0.53, -1.577] + time_from_start: 11.0 + meta: + name: Shake Hands + usage: demo + description: 'shake_hands' @[end if]@ @[else]@ diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_custom.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_custom.yaml new file mode 100644 index 00000000..d460c057 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_custom.yaml @@ -0,0 +1,22 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_custom_schunk-ft.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_custom_schunk-ft.yaml new file mode 100644 index 00000000..8dc095d5 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_custom_schunk-ft.yaml @@ -0,0 +1,31 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + +force_torque: + wrist_ft: + frame: wrist_ft_link + transformation: + force: [-y,x,z] + torque: [-y,x,z] + raw_data: + force_port: force_wrist + torque_port: torque_wrist + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee.yaml new file mode 100644 index 00000000..d460c057 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee.yaml @@ -0,0 +1,22 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee_schunk-ft.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee_schunk-ft.yaml new file mode 100644 index 00000000..8dc095d5 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_no-ee_schunk-ft.yaml @@ -0,0 +1,31 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + +force_torque: + wrist_ft: + frame: wrist_ft_link + transformation: + force: [-y,x,z] + torque: [-y,x,z] + raw_data: + force_port: force_wrist + torque_port: torque_wrist + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140.yaml new file mode 100644 index 00000000..d460c057 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140.yaml @@ -0,0 +1,22 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140_schunk-ft.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140_schunk-ft.yaml new file mode 100644 index 00000000..8dc095d5 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-140_schunk-ft.yaml @@ -0,0 +1,31 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + +force_torque: + wrist_ft: + frame: wrist_ft_link + transformation: + force: [-y,x,z] + torque: [-y,x,z] + raw_data: + force_port: force_wrist + torque_port: torque_wrist + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85.yaml new file mode 100644 index 00000000..d460c057 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85.yaml @@ -0,0 +1,22 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85_schunk-ft.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85_schunk-ft.yaml new file mode 100644 index 00000000..8dc095d5 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-2f-85_schunk-ft.yaml @@ -0,0 +1,31 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + +force_torque: + wrist_ft: + frame: wrist_ft_link + transformation: + force: [-y,x,z] + torque: [-y,x,z] + raw_data: + force_port: force_wrist + torque_port: torque_wrist + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick.yaml new file mode 100644 index 00000000..d460c057 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick.yaml @@ -0,0 +1,22 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick_schunk-ft.yaml b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick_schunk-ft.yaml new file mode 100644 index 00000000..8dc095d5 --- /dev/null +++ b/tiago_bringup/config/tiago_hardware/tiago_hardware_robotiq-epick_schunk-ft.yaml @@ -0,0 +1,31 @@ +#Autogenerated file, don't edit this, edit tiago_hardware.yaml.em instead +actuators: + raw_data: + position_port: act_position + effort_port: act_current + mode_port: act_control_mode + position_cmd_port: ref_position + velocity_cmd_port: ref_velocity + effort_cmd_port: ref_current + mode_cmd_port: ref_control_mode + current_limit_cmd_port: ref_limit_current + absolute_encoder_position_port: act_abs_position + +joint_mode_black_list: ['head_controller', 'torso_controller'] + +force_torque: + wrist_ft: + frame: wrist_ft_link + transformation: + force: [-y,x,z] + torque: [-y,x,z] + raw_data: + force_port: force_wrist + torque_port: torque_wrist + +e_stop: + raw_data: + e_stop_port: emergency_stop_state + +ros_control_component: + ignore_read_errors: false diff --git a/tiago_bringup/config/twist_mux/joystick_omni.yaml b/tiago_bringup/config/twist_mux/joystick_omni.yaml new file mode 100644 index 00000000..a71a898b --- /dev/null +++ b/tiago_bringup/config/twist_mux/joystick_omni.yaml @@ -0,0 +1,12 @@ +priority: false + +turbo: + linear_forward_min : 0.10 + linear_forward_max : 1.00 + linear_backward_min : 0.10 + linear_backward_max : 1.00 + linear_lateral_min : 0.10 + linear_lateral_max : 1.00 + angular_min : !degrees 10.0 + angular_max : !degrees 120.0 + steps : 8 diff --git a/tiago_bringup/launch/dynamic_footprint.launch b/tiago_bringup/launch/dynamic_footprint.launch index a9e77bf0..b90c632a 100644 --- a/tiago_bringup/launch/dynamic_footprint.launch +++ b/tiago_bringup/launch/dynamic_footprint.launch @@ -3,12 +3,19 @@ + + + + + - + + + diff --git a/tiago_bringup/launch/end_effector_camera.launch b/tiago_bringup/launch/end_effector_camera.launch index 2365b4e3..b9c7342d 100644 --- a/tiago_bringup/launch/end_effector_camera.launch +++ b/tiago_bringup/launch/end_effector_camera.launch @@ -1,27 +1,35 @@ - - - - - - - - + + + + + + - - - - - - + + + - - + + + - - - - + + + + + + + + + + + + + + diff --git a/tiago_bringup/launch/joystick_teleop.launch b/tiago_bringup/launch/joystick_teleop.launch index c2eb0b90..921df8fe 100644 --- a/tiago_bringup/launch/joystick_teleop.launch +++ b/tiago_bringup/launch/joystick_teleop.launch @@ -3,18 +3,24 @@ + + - + + + + + @@ -27,7 +33,7 @@ - + diff --git a/tiago_bringup/launch/mm11.launch b/tiago_bringup/launch/mm11.launch new file mode 100644 index 00000000..d5d283fe --- /dev/null +++ b/tiago_bringup/launch/mm11.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/tiago_bringup/launch/play_motion.launch b/tiago_bringup/launch/play_motion.launch index 7b54e127..a6d09414 100644 --- a/tiago_bringup/launch/play_motion.launch +++ b/tiago_bringup/launch/play_motion.launch @@ -3,11 +3,18 @@ - + + + + + - + + - + + diff --git a/tiago_bringup/launch/tiago.launch b/tiago_bringup/launch/tiago.launch index b496fa3e..5bcc3502 100644 --- a/tiago_bringup/launch/tiago.launch +++ b/tiago_bringup/launch/tiago.launch @@ -5,13 +5,21 @@ + + + + + + - + + + - + @@ -21,10 +29,12 @@ + + - + @@ -37,6 +47,10 @@ + + + + diff --git a/tiago_bringup/launch/tiago_bringup.launch b/tiago_bringup/launch/tiago_bringup.launch index 849a0189..cd7931c3 100644 --- a/tiago_bringup/launch/tiago_bringup.launch +++ b/tiago_bringup/launch/tiago_bringup.launch @@ -3,10 +3,15 @@ - + + + + + + @@ -15,13 +20,17 @@ + + + + - + - + @@ -32,12 +41,15 @@ - + + + + @@ -45,6 +57,7 @@ + diff --git a/tiago_bringup/launch/twist_mux.launch b/tiago_bringup/launch/twist_mux.launch index 42f16049..afb6d122 100644 --- a/tiago_bringup/launch/twist_mux.launch +++ b/tiago_bringup/launch/twist_mux.launch @@ -1,12 +1,13 @@ + - + diff --git a/tiago_bringup/package.xml b/tiago_bringup/package.xml index 6abbea6d..5ffc16da 100644 --- a/tiago_bringup/package.xml +++ b/tiago_bringup/package.xml @@ -1,25 +1,28 @@ - + tiago_bringup - 2.0.38 + 2.3.17 Launch files to upload the robot description and start the controllers Jordi Pages Bence Magyar - BSD + Apache License 2.0 catkin - pmb2_bringup - tf_lookup - robot_state_publisher - tiago_controller_configuration - joy - joy_teleop - dynamic_footprint - head_action - tiago_moveit_config - dynamixel_cpp - openni2_launch - speed_limit_node - camera_calibration_files - libuvc_camera - robot_pose + pmb2_bringup + tf_lookup + robot_state_publisher + tiago_controller_configuration + joy + joy_teleop + dynamic_footprint + head_action + tiago_moveit_config + dynamixel_cpp + openni2_launch + speed_limit_node + camera_calibration_files + libuvc_camera + usb_cam + robot_pose + custom_ee_configuration + pal_motion_loader diff --git a/tiago_bringup/scripts/end_effector_camera.sh b/tiago_bringup/scripts/end_effector_camera.sh new file mode 100755 index 00000000..3a25ff14 --- /dev/null +++ b/tiago_bringup/scripts/end_effector_camera.sh @@ -0,0 +1,59 @@ +#!/bin/bash + + +# This script by default sets and runs end_effector_camera.launch depending on the vendor:product pair. +# If you want to use two cameras at the same time you have to open a second terminal and do rosrun tiago_bringup end_effector_camera.sh left_camera + +# each column is one camera and its configuration +list_vendor=("1908" "0bda" "1902" "1902") +list_product=("2311" "5806" "8301" "0327") +# You can detect the compatible frame rate using the command `v4l2-ctl --list-formats-ext` +list_frame_rate=(14 30 30 30) #frame rate depending on vendor:product + +cameras_run() +{ +local camera=${1:-"camera"} +local video_device=${2:-0} +local rotation=${3:-0} +local framerate="" +for i in $(seq 0 `expr ${#list_vendor[@]} - 1`); +do + echo "searching ${list_vendor[i]}":"${list_product[i]}" + if [[ $(lsusb | grep ${list_vendor[i]}":"${list_product[i]}) ]]; then + echo -e "\e[0;32mFound!\e[0m" + framerate=${list_frame_rate[i]} + fi +done +if [[ -z "$framerate" ]]; then + echo -e "\033[0;33mUnable to determine the framerate from vendor ID, trying with default framerate of 30Hz\e[0m" + framerate="30" +fi +roslaunch tiago_bringup end_effector_camera.launch framerate:=${list_frame_rate[i]} camera:=${camera} rotation:=${rotation} video_device:=${video_device} +} + +# main + +case $1 in + "-h") + echo "Pass nothing or right_camera or left_camera" + echo "Example: rosrun tiago_bringup end_effector_camera.sh right_camera" + ;; + "" | "camera") + cameras_run "camera" /dev/video0 $2 + ;; + "right_camera") + cameras_run $1 /dev/video0 $2 + ;; + "left_camera") + cameras_run $1 /dev/video2 $2 + ;; + # unccoment the following to add the posibility to add an extra camera + # "x_camera") + # confirmation "Have you plugged left usb endoscopic camera WITHOUT unplugging the right one?" + # cameras_run $1 2 + # ;; + *) + echo "Pass nothing or right_camera or left_camera" + echo "Example: rosrun tiago_bringup end_effector_camera.sh right_camera" + ;; +esac diff --git a/tiago_bringup/scripts/regen_em_file.py b/tiago_bringup/scripts/regen_em_file.py index ed4212cd..14e53e48 100755 --- a/tiago_bringup/scripts/regen_em_file.py +++ b/tiago_bringup/scripts/regen_em_file.py @@ -12,7 +12,7 @@ for arm in [True, False]: if arm: - end_effectors = ["pal-hey5", "pal-gripper", "schunk-wsg"] + end_effectors = ["pal-hey5", "pal-gripper", "schunk-wsg", "robotiq-2f-85", "robotiq-2f-140", "robotiq-epick", "custom", "no-ee"] ft_sensors = ["schunk-ft", None] else: end_effectors = [None] @@ -38,8 +38,9 @@ os.path.basename(em_file_path)) if extension == ".yaml": f.write("#" + msg + "\n") - elif extension in [".xacro", ".xml", ".srdf"]: - f.write("\n") + # If we add a comment at the begining of an xml the format is not correct. + #elif extension in [".xacro", ".xml", ".srdf"]: + # f.write("\n") f.write(expanded_contents) print("Generated " + expanded_file_name) diff --git a/tiago_bringup/scripts/regen_em_motion_file.py b/tiago_bringup/scripts/regen_em_motion_file.py new file mode 100755 index 00000000..1b5e2c1e --- /dev/null +++ b/tiago_bringup/scripts/regen_em_motion_file.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import em +import sys +import os + +em_file_path = sys.argv[1] + +no_em_extension_path = os.path.splitext(em_file_path)[0] +no_extension_path = os.path.splitext(no_em_extension_path)[0] +extension = os.path.splitext(no_em_extension_path)[1] + +for arm in [True, False]: + if arm: + end_effectors = ["pal-hey5", "pal-gripper", "schunk-wsg", "robotiq-2f-85", "robotiq-2f-140", "robotiq-epick", "custom", "no-ee"] + ft_sensors = ["schunk-ft", None] + base_types = ["pmb2","omni_base"] + else: + end_effectors = [None] + ft_sensors = [None] + for end_effector in end_effectors: + for ft_sensor in ft_sensors: + for base_type in base_types: + cfg = { + "has_arm": arm, + "end_effector": end_effector, + "ft_sensor": ft_sensor, + "base_type": base_type, + } + with open(em_file_path, "r") as f: + expanded_contents = em.expand(f.read(), cfg) + if not arm: + suffix = "_no-arm" + elif ft_sensor is None: + suffix = "_{}".format(end_effector) + else: + suffix = "_{}_{}".format(end_effector, ft_sensor) + expanded_file_name = no_extension_path + suffix + extension + with open(os.path.join(base_type, expanded_file_name), "w") as f: + msg = "Autogenerated file, don't edit this, edit {} instead".format( + os.path.basename(em_file_path)) + if extension == ".yaml": + f.write("#" + msg + "\n") + # If we add a comment at the begining of an xml the format is not correct. + #elif extension in [".xacro", ".xml", ".srdf"]: + # f.write("\n") + + f.write(expanded_contents) + print("Generated " + expanded_file_name) diff --git a/tiago_controller_configuration/CHANGELOG.rst b/tiago_controller_configuration/CHANGELOG.rst index 372a022e..846d5372 100644 --- a/tiago_controller_configuration/CHANGELOG.rst +++ b/tiago_controller_configuration/CHANGELOG.rst @@ -2,6 +2,343 @@ Changelog for package tiago_controller_configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.3.17 (2023-11-20) +------------------- + +2.3.16 (2023-11-08) +------------------- +* Merge branch 'smooth_position_control' into 'erbium-devel' + Add parameters for direct_position_control + See merge request robots/tiago_robot!226 +* Modify parameters for direct_position_control +* Modify parameters for direct_position_control +* Add parameters for direct_position_control +* Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota + +2.3.15 (2023-10-23) +------------------- + +2.3.14 (2023-10-11) +------------------- +* add the catkin buildtool_depend +* Merge branch 'change_license_to_apache' into 'erbium-devel' + change public license to Apache License 2.0 + See merge request robots/tiago_robot!229 +* change public license to Apache License 2.0 +* Contributors: Jordan Palacios, Sai Kishor Kothakota + +2.3.13 (2023-08-09) +------------------- + +2.3.12 (2023-06-12) +------------------- + +2.3.11 (2023-04-18) +------------------- + +2.3.10 (2023-03-13) +------------------- + +2.3.9 (2022-12-13) +------------------ +* Merge branch 'add-moveit-capability-loader' into 'erbium-devel' + Add argument for launching move_group + See merge request robots/tiago_robot!181 +* Ensure enable_camera argument is set correctly +* Set enable_moveit_camera arg in tiago_controllers.launch +* set use_moveit_camera arg in tiago_controllers correct +* Ensure moveit camera is always on when advanced grasping is loaded +* Add advanced_grasping launch arguments +* Enable moveit-camera propagation in launch files +* Add argument for launching move_group +* Contributors: David ter Kuile, saikishor + +2.3.8 (2022-10-24) +------------------ +* Merge branch 'feat/robust-odometry-integration' into 'erbium-devel' + disabled odom tf publication + See merge request robots/tiago_robot!175 +* disabled odom tf publication +* Contributors: josegarcia + +2.3.7 (2022-08-10) +------------------ +* Merge branch 'fix_torso_collision' into 'erbium-devel' + Fix collision boxes for the torso + See merge request robots/tiago_robot!156 +* Reorder param order for making it easier to spot +* Remove extra joints because were changed to fixed +* Contributors: saikishor, thomaspeyrucain + +2.3.6 (2022-08-04) +------------------ + +2.3.5 (2022-07-26) +------------------ +* Merge branch 'omnibase_wbc' into 'erbium-devel' + propagate base_type to wbc + See merge request robots/tiago_robot!155 +* propagate base_type to wbc +* Contributors: saikishor, thomaspeyrucain + +2.3.4 (2022-07-21) +------------------ +* Merge branch 'add_omni_tiago' into 'erbium-devel' + Add base_type to the missing launch files + See merge request robots/tiago_robot!153 +* =Add base_type to the missing launch files +* Contributors: saikishor, thomaspeyrucain + +2.3.3 (2022-07-19) +------------------ +* Removed extra space in the filename +* Contributors: antoniobrandi + +2.3.2 (2022-05-17) +------------------ + +2.3.1 (2022-05-16) +------------------ + +2.3.0 (2022-05-03) +------------------ + +2.2.15 (2022-05-03) +------------------- +* Merge branch 'no-end-effector-bugfix' into 'erbium-devel' + No end effector bugfix + See merge request robots/tiago_robot!149 +* remove redundant spaces +* remove redundant spaces +* Added no end-effector to cartesian impedance controller.launch +* made some changes +* Update eval function, generate scripts +* rebase +* rebase +* Added no end-effector to cartesian impedance controller.launch +* made some changes +* Update eval function, generate scripts +* rebaed +* Added no end-effector to cartesian impedance controller.launch +* made some changes +* Update eval function, generate scripts +* Added no end-effector to cartesian impedance controller.launch +* made some changes +* Update eval function, generate scripts +* Contributors: David ter Kuile, saikishor + +2.2.14 (2022-04-20) +------------------- + +2.2.13 (2022-03-23) +------------------- +* Merge branch 'fix_home_robotiq_2f_140' into 'erbium-devel' + Fix home position for robotiq-2f-140 + fix Reach max out of range motion + add effort_controller + See merge request robots/tiago_robot!148 +* Fix home position for robotiq-2f-140 + fix Reach max out of range motion + add effort_controller +* Contributors: saikishor, thomaspeyrucain + +2.2.12 (2022-03-18) +------------------- + +2.2.11 (2022-03-18) +------------------- +* Merge branch 'add_robotiq_epick_gripper' into 'erbium-devel' + Add link to epick urdf + See merge request robots/tiago_robot!145 +* Change config files to match new name and new controller + add joystick control +* Change the name from vacuum to finger and add config file for controller +* Add config files for robotiq-epick gripper +* Contributors: saikishor, thomaspeyrucain + +2.2.10 (2022-02-22) +------------------- + +2.2.9 (2022-01-19) +------------------ + +2.2.8 (2021-12-22) +------------------ +* Merge branch 'reduced_wbc' into 'erbium-devel' + Add argument to set torso to no control + See merge request robots/tiago_robot!144 +* Add argument to set torso to no control +* Contributors: Adria Roig, narcismiguel + +2.2.7 (2021-11-25) +------------------ + +2.2.6 (2021-11-22) +------------------ +* Merge branch 'fix-omnibase' into 'erbium-devel' + Configuration of the speed filters for the combined mouvements of the omni base + See merge request robots/tiago_robot!142 +* Configuration of the speed filters for the combined mouvements of the omni base +* Contributors: antoniobrandi, saikishor + +2.2.5 (2021-11-19) +------------------ +* Merge branch 'conditional_dependencies' into 'erbium-devel' + Conditional dependencies + See merge request robots/tiago_robot!140 +* added PAL_DISTRO conditioning for PAL dependencies +* change to package version 3 +* Contributors: Sai Kishor Kothakota, victor + +2.2.4 (2021-11-10) +------------------ +* added cartesian_impedance_controller controller as dependency +* Contributors: Sai Kishor Kothakota + +2.2.3 (2021-11-10) +------------------ +* Merge branch 'omni_base_fix' into 'erbium-devel' + Reducing speed limit in order to avoid a wheel blocking + See merge request robots/tiago_robot!139 +* Reducing speed limit in order to avoid a wheel blocking +* Contributors: antoniobrandi, saikishor + +2.2.2 (2021-11-09) +------------------ +* Merge branch 'cartesian_impedance' into 'erbium-devel' + Added the cartesian impedance config and launch file + See merge request robots/tiago_robot!132 +* added the gains for the controller +* Added the cartesian impedance config and launch file +* Contributors: Sai Kishor Kothakota, saikishor + +2.2.1 (2021-11-09) +------------------ + +2.2.0 (2021-11-03) +------------------ +* Merge branch 'omni_base_robot' into 'erbium-devel' + Omni base robot + See merge request robots/tiago_robot!137 +* added dynamic footprint configuration for tiago with omni_base +* preparing configuration for a tiago with omni base +* Contributors: antoniobrandi, saikishor + +2.1.5 (2021-09-22) +------------------ + +2.1.4 (2021-08-31) +------------------ +* Merge branch 'kangaroo_wbc' into 'erbium-devel' + Kangaroo wbc + See merge request robots/tiago_robot!134 +* Add BS parameters needed for local joint control +* Contributors: Adria Roig, victor + +2.1.3 (2021-08-06) +------------------ +* Merge branch 'robotiq-impedance-issues' into 'erbium-devel' + fix: missing chain definition for robotiq gripper + See merge request robots/tiago_robot!131 +* refact: unify condition +* fix: missing chain definition for robotiq gripper +* Contributors: daniellopez, saikishor + +2.1.2 (2021-07-16) +------------------ + +2.1.1 (2021-06-01) +------------------ +* Merge branch 'impedance_controllers' into 'erbium-devel' + added impedance controller configuration + See merge request robots/tiago_robot!126 +* Fix the actuator name in arm_1_joint +* fix: endless loop in joint 6 +* added impedance controller configuration +* Contributors: Sai Kishor Kothakota, daniellopez, saikishor, victor + +2.1.0 (2021-05-06) +------------------ +* Merge branch 'robotiq_gripper' into 'erbium-devel' + Robotiq gripper + See merge request robots/tiago_robot!125 +* add robotiq dependencies and robotiq grippers to the tests +* added the gravity compensation configurations for robotiq grippers +* Update the joint trajectory controller config yamls +* Contributors: Sai Kishor Kothakota, saikishor + +2.0.58 (2021-04-09) +------------------- + +2.0.57 (2021-03-19) +------------------- + +2.0.56 (2021-03-01) +------------------- + +2.0.55 (2021-01-15) +------------------- +* Merge branch 'gravity_compensation_fix' into 'erbium-devel' + Update arm_3_link weight for gravity compensation + See merge request robots/tiago_robot!120 +* Update motor torque constant arm_5_joint for gravity_compensation +* Contributors: Adria Roig, victor + +2.0.54 (2020-09-08) +------------------- +* Merge branch 'new-endoscopic-dual' of gitlab:robots/tiago_robot into new-endoscopic-dual +* Contributors: daniellopez + +2.0.53 (2020-07-30) +------------------- + +2.0.52 (2020-07-27) +------------------- +* Merge branch 'safety_parameters' into 'erbium-devel' + Update default_safety_parameters.yaml with new changes in the safety of local joint control + See merge request robots/tiago_robot!117 +* Update default_safety_parameters.yaml with new changes in the safety of local joint control +* Contributors: saikishor, victor + +2.0.51 (2020-07-15) +------------------- + +2.0.50 (2020-07-10) +------------------- + +2.0.49 (2020-07-01) +------------------- + +2.0.48 (2020-06-10) +------------------- + +2.0.47 (2020-05-15) +------------------- + +2.0.46 (2020-05-13) +------------------- + +2.0.45 (2020-05-12) +------------------- + +2.0.44 (2020-05-12) +------------------- + +2.0.43 (2020-05-08) +------------------- + +2.0.42 (2020-05-07) +------------------- + +2.0.41 (2020-05-07) +------------------- + +2.0.40 (2020-05-06) +------------------- + +2.0.39 (2020-04-21) +------------------- +* Merge branch 'custom-ee' into 'erbium-devel' + Allow using custom end-effector + See merge request robots/tiago_robot!102 +* Add parameter files for custom EE +* Contributors: davidfernandez, victor + 2.0.38 (2020-02-27) ------------------- diff --git a/tiago_controller_configuration/config/cartesian_impedance.yaml b/tiago_controller_configuration/config/cartesian_impedance.yaml new file mode 100644 index 00000000..63ba2d42 --- /dev/null +++ b/tiago_controller_configuration/config/cartesian_impedance.yaml @@ -0,0 +1,7 @@ +cartesian_impedance: + type: "impedance_control/CartesianImpedance" + robot_model_chains: + - gripper_link + stiffness_gain: 90.0 + damping_gain: 0.1 + dt: 0.01 diff --git a/tiago_controller_configuration/config/current_limit_controllers_omni.yaml b/tiago_controller_configuration/config/current_limit_controllers_omni.yaml new file mode 100644 index 00000000..9130f0f6 --- /dev/null +++ b/tiago_controller_configuration/config/current_limit_controllers_omni.yaml @@ -0,0 +1,25 @@ +arm_current_limit_controller: + type: "pal_ros_controllers/CurrentLimitController" + actuators: + - arm_1_motor + - arm_2_motor + - arm_3_motor + - arm_4_motor + - arm_5_motor + - arm_6_motor + - arm_7_motor + +hand_current_limit_controller: + type: "pal_ros_controllers/CurrentLimitController" + actuators: + - hand_thumb_motor + - hand_index_motor + - hand_mrl_motor + +wheels_current_limit_controller: + type: "pal_ros_controllers/CurrentLimitController" + actuators: + - wheel_front_left_motor + - wheel_rear_left_motor + - wheel_front_right_motor + - wheel_rear_right_motor \ No newline at end of file diff --git a/tiago_controller_configuration/config/custom_gravity_compensation_with_controller_wrist_controller.yaml b/tiago_controller_configuration/config/custom_gravity_compensation_with_controller_wrist_controller.yaml new file mode 100644 index 00000000..65b58c33 --- /dev/null +++ b/tiago_controller_configuration/config/custom_gravity_compensation_with_controller_wrist_controller.yaml @@ -0,0 +1,4 @@ +gravity_compensation: + type: "force_control/GravityCompensation" + robot_model_chains: ["arm_tool_link"] + dt: 0.01 \ No newline at end of file diff --git a/tiago_controller_configuration/config/default_safety_parameters.yaml b/tiago_controller_configuration/config/default_safety_parameters.yaml index a3a36cf7..e62792ba 100644 --- a/tiago_controller_configuration/config/default_safety_parameters.yaml +++ b/tiago_controller_configuration/config/default_safety_parameters.yaml @@ -1,6 +1,7 @@ enable_safety: false allow_recovery: true max_collision_impulse_estimate: 0.2 +max_distance_impulse: 15.0 anticipation_time: 0.05 drift_velocity_bound: 0.05 drift_duration_bound: 0.2 diff --git a/tiago_controller_configuration/config/joint_impedance_trajectory_controllers.yaml b/tiago_controller_configuration/config/joint_impedance_trajectory_controllers.yaml new file mode 100644 index 00000000..bb7f6f46 --- /dev/null +++ b/tiago_controller_configuration/config/joint_impedance_trajectory_controllers.yaml @@ -0,0 +1,44 @@ +arm_impedance_controller: + type: "impedance_controllers/JointTrajectoryController" + joints: + - arm_1_joint + - arm_2_joint + - arm_3_joint + - arm_4_joint + - arm_5_joint + - arm_6_joint + - arm_7_joint + robot_model_chains: ["gripper_link"] + impedance_gains: + arm_1_joint: {kp: 6.0, kd: 1.0} + arm_2_joint: {kp: 6.0, kd: 0.8} + arm_3_joint: {kp: -6.0, kd: -0.8} + arm_4_joint: {kp: -6.0, kd: -0.8} + arm_5_joint: {kp: -0.02, kd: -0.02} + arm_6_joint: {kp: 0.2, kd: 0.02} + arm_7_joint: {kp: 0.2, kd: 0.2} + motor_params: + arm_1_joint: {motor_torque_constant: 0.0, reduction_ratio: 100.0} + arm_2_joint: {motor_torque_constant: 0.136, reduction_ratio: 100.0} + arm_3_joint: {motor_torque_constant: -0.087, reduction_ratio: 100.0} + arm_4_joint: {motor_torque_constant: -0.087, reduction_ratio: 100.0} + arm_5_joint: {motor_torque_constant: 0.0, reduction_ratio: 336.0} + arm_6_joint: {motor_torque_constant: 0.0, reduction_ratio: 336.0} + arm_7_joint: {motor_torque_constant: 0.0, reduction_ratio: 336.0} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 5.0 + arm_1_joint: + goal: 0.02 + arm_2_joint: + goal: 0.02 + arm_3_joint: + goal: 0.02 + arm_4_joint: + goal: 0.02 + arm_5_joint: + goal: 0.02 + arm_6_joint: + goal: 0.02 + arm_7_joint: + goal: 0.02 diff --git a/tiago_controller_configuration/config/joint_state_controller_extra_joints_omni.yaml b/tiago_controller_configuration/config/joint_state_controller_extra_joints_omni.yaml new file mode 100644 index 00000000..61a9dd45 --- /dev/null +++ b/tiago_controller_configuration/config/joint_state_controller_extra_joints_omni.yaml @@ -0,0 +1 @@ +# Empty because the extra joints were changed to fixed. Will be fixed by changing how the config files are loaded \ No newline at end of file diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_1_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_1_joint.yaml index 65b7a3cb..7c6b8452 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_1_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_1_joint.yaml @@ -1,8 +1,10 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 100.0 actuator_names: - - torso_lift_motor + - arm_1_motor check_mode: false # This parametres are random, they have not been identified diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_2_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_2_joint.yaml index 7ea9c2f2..50bae7dc 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_2_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_2_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.136 torque_sensor_offset: 0.0 reduction_ratio: 100.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_3_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_3_joint.yaml index d3b63e53..33d4350d 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_3_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_3_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: -0.087 torque_sensor_offset: 0.0 reduction_ratio: 100.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_4_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_4_joint.yaml index 51517a7b..1ca110da 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_4_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_4_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: -0.087 torque_sensor_offset: 0.0 reduction_ratio: 100.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_5_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_5_joint.yaml index 4a18c721..3cfcf9f0 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_5_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_5_joint.yaml @@ -1,4 +1,6 @@ -motor_torque_constant: 0.0 +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 +motor_torque_constant: -1.0 torque_sensor_offset: 0.0 reduction_ratio: 336.0 actuator_names: @@ -7,7 +9,7 @@ check_mode: false # This parametres are random, they have not been identified motor_inertia: 1.e-05 -static_friction: 0.0 -viscous_friction: 0.0 +static_friction: 0.05 +viscous_friction: 0.05 joint_elasticity: 10000.0 joint_elasticity_damping: -20. diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_6_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_6_joint.yaml index 67d006b4..1f31de1f 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_6_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_6_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 336.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_7_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_7_joint.yaml index 64db9dad..f024cacc 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_7_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/arm_7_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 336.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_1_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_1_joint.yaml index 3429f0f1..52781d8c 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_1_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_1_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 0.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_2_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_2_joint.yaml index d833fdd6..73226fec 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_2_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/head_2_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 0.0 diff --git a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/torso_lift_joint.yaml b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/torso_lift_joint.yaml index dc76e90c..d77a18db 100644 --- a/tiago_controller_configuration/config/local_joint_control/actuator_parameters/torso_lift_joint.yaml +++ b/tiago_controller_configuration/config/local_joint_control/actuator_parameters/torso_lift_joint.yaml @@ -1,3 +1,5 @@ +ball_screw_efficiency: 0.0 +ball_screw_lead: 0.0 motor_torque_constant: 0.0 torque_sensor_offset: 0.0 reduction_ratio: 0.0 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_1_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_1_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_1_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_2_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_2_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_2_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_3_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_3_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_3_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_4_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_4_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_4_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_5_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_5_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_5_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_6_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_6_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_6_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_7_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_7_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/arm_7_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_1_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_1_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_1_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_2_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_2_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/head_2_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/local_joint_control/direct_position_control/torso_lift_joint_params.yaml b/tiago_controller_configuration/config/local_joint_control/direct_position_control/torso_lift_joint_params.yaml new file mode 100644 index 00000000..7335514c --- /dev/null +++ b/tiago_controller_configuration/config/local_joint_control/direct_position_control/torso_lift_joint_params.yaml @@ -0,0 +1,2 @@ +limiter_max_rate: 1 +circular_buffer_capacity: 1 diff --git a/tiago_controller_configuration/config/mobile_base_controller.yaml b/tiago_controller_configuration/config/mobile_base_controller.yaml index c5c59bf3..9c706a61 100644 --- a/tiago_controller_configuration/config/mobile_base_controller.yaml +++ b/tiago_controller_configuration/config/mobile_base_controller.yaml @@ -18,8 +18,8 @@ mobile_base_controller: # Publish actual velocity cmd publish_cmd: true - # Publish tf odom? - enable_odom_tf: true + # odom tf will be published by direct laser odometry + enable_odom_tf: false # Velocity and acceleration limits # Whenever a min_* is unspecified, default to -max_* diff --git a/tiago_controller_configuration/config/mobile_base_controller_multipliers_omni.yaml b/tiago_controller_configuration/config/mobile_base_controller_multipliers_omni.yaml new file mode 100644 index 00000000..5ab80774 --- /dev/null +++ b/tiago_controller_configuration/config/mobile_base_controller_multipliers_omni.yaml @@ -0,0 +1,5 @@ +mobile_base_controller: + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 + wheel_radius_multiplier : 1.0 + axis_separation_multiplier : 1.0 diff --git a/tiago_controller_configuration/config/mobile_base_controller_omni.yaml b/tiago_controller_configuration/config/mobile_base_controller_omni.yaml new file mode 100644 index 00000000..e6ce400f --- /dev/null +++ b/tiago_controller_configuration/config/mobile_base_controller_omni.yaml @@ -0,0 +1,69 @@ +mobile_base_controller: + type : "omni_drive_controller/OmniDriveController" + left_front_wheel : 'wheel_front_left_joint' + left_back_wheel : 'wheel_rear_left_joint' + right_front_wheel : 'wheel_front_right_joint' + right_back_wheel : 'wheel_rear_right_joint' + publish_rate: 50.0 + pose_covariance_diagonal : [0.001, 0.001, 1.0e-3, 1.0e-3, 1.0e-3, 0.01] + twist_covariance_diagonal: [0.001, 0.001, 1.0e-3, 1.0e-3, 1.0e-3, 0.01] + + enable_pose_covariance_update: true + error_constant_left : 0.001 + error_constant_right: 0.001 + + # Velocity commands timeout [s] + cmd_vel_timeout: 0.25 + + # Base frame_id + base_frame_id: base_footprint + + # Base frame_id + odom_frame_id: odom + + # Preserve turning radius when limiting speed/acceleration/jerk + preserve_turning_radius: true + + # odom tf will be published by direct laser odometry + enable_odom_tf: false + + # Publish limited velocity + publish_cmd: false + + # Publish wheel data + publish_wheel_data: true + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 1.0 # m/s + min_velocity : -1.0 # m/s + has_acceleration_limits: true + max_acceleration : 0.7 # m/s^2 + has_jerk_limits : false + max_jerk : 5.0 # m/s^3 + y: + has_velocity_limits : true + max_velocity : 1.0 # m/s + min_velocity : -1.0 # m/s + has_acceleration_limits: true + max_acceleration : 0.7 # m/s^2 + has_jerk_limits : false + max_jerk : 5.0 # m/s^3 + angular: + z: + has_velocity_limits : true + max_velocity : !degrees 80.0 # reduce pendulum effect + has_acceleration_limits: true + max_acceleration : !degrees 80.0 + has_jerk_limits : false + max_jerk : !degrees 600.0 + space: + xy: + max_velocity : 0.7 + xz: + max_velocity : 0.5 + xyz: + max_velocity : 0.4 diff --git a/tiago_controller_configuration/config/no-ee_gravity_compensation_with_controller_wrist_controller.yaml b/tiago_controller_configuration/config/no-ee_gravity_compensation_with_controller_wrist_controller.yaml new file mode 100644 index 00000000..65b58c33 --- /dev/null +++ b/tiago_controller_configuration/config/no-ee_gravity_compensation_with_controller_wrist_controller.yaml @@ -0,0 +1,4 @@ +gravity_compensation: + type: "force_control/GravityCompensation" + robot_model_chains: ["arm_tool_link"] + dt: 0.01 \ No newline at end of file diff --git a/tiago_controller_configuration/config/robotiq-2f-140_gravity_compensation_with_controller_wrist_controller.yaml b/tiago_controller_configuration/config/robotiq-2f-140_gravity_compensation_with_controller_wrist_controller.yaml new file mode 100644 index 00000000..f323e41b --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-2f-140_gravity_compensation_with_controller_wrist_controller.yaml @@ -0,0 +1,4 @@ +gravity_compensation: + type: "force_control/GravityCompensation" + robot_model_chains: ["gripper_base_link"] + dt: 0.01 diff --git a/tiago_controller_configuration/config/robotiq-2f-140_joint_trajectory_controllers.yaml b/tiago_controller_configuration/config/robotiq-2f-140_joint_trajectory_controllers.yaml new file mode 100644 index 00000000..34e7b2ec --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-2f-140_joint_trajectory_controllers.yaml @@ -0,0 +1,10 @@ +gripper_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - gripper_finger_joint + + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 5.0 + gripper_finger_joint: + goal: 0.02 diff --git a/tiago_controller_configuration/config/robotiq-2f-85_gravity_compensation_with_controller_wrist_controller.yaml b/tiago_controller_configuration/config/robotiq-2f-85_gravity_compensation_with_controller_wrist_controller.yaml new file mode 100644 index 00000000..f323e41b --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-2f-85_gravity_compensation_with_controller_wrist_controller.yaml @@ -0,0 +1,4 @@ +gravity_compensation: + type: "force_control/GravityCompensation" + robot_model_chains: ["gripper_base_link"] + dt: 0.01 diff --git a/tiago_controller_configuration/config/robotiq-2f-85_joint_trajectory_controllers.yaml b/tiago_controller_configuration/config/robotiq-2f-85_joint_trajectory_controllers.yaml new file mode 100644 index 00000000..34e7b2ec --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-2f-85_joint_trajectory_controllers.yaml @@ -0,0 +1,10 @@ +gripper_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - gripper_finger_joint + + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 5.0 + gripper_finger_joint: + goal: 0.02 diff --git a/tiago_controller_configuration/config/robotiq-epick_gravity_compensation_with_controller_wrist_controller.yaml b/tiago_controller_configuration/config/robotiq-epick_gravity_compensation_with_controller_wrist_controller.yaml new file mode 100644 index 00000000..f323e41b --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-epick_gravity_compensation_with_controller_wrist_controller.yaml @@ -0,0 +1,4 @@ +gravity_compensation: + type: "force_control/GravityCompensation" + robot_model_chains: ["gripper_base_link"] + dt: 0.01 diff --git a/tiago_controller_configuration/config/robotiq-epick_joint_effort_controller.yaml b/tiago_controller_configuration/config/robotiq-epick_joint_effort_controller.yaml new file mode 100644 index 00000000..21d1ea70 --- /dev/null +++ b/tiago_controller_configuration/config/robotiq-epick_joint_effort_controller.yaml @@ -0,0 +1,3 @@ +gripper_controller: + type: "effort_controllers/JointEffortController" + joint: gripper_vacuum_joint \ No newline at end of file diff --git a/tiago_controller_configuration/launch/cartesian_impedance_controller.launch b/tiago_controller_configuration/launch/cartesian_impedance_controller.launch new file mode 100644 index 00000000..1eacacfd --- /dev/null +++ b/tiago_controller_configuration/launch/cartesian_impedance_controller.launch @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + $(arg model_chains) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tiago_controller_configuration/launch/default_controllers.launch b/tiago_controller_configuration/launch/default_controllers.launch index 903d8b4f..92cd30b8 100644 --- a/tiago_controller_configuration/launch/default_controllers.launch +++ b/tiago_controller_configuration/launch/default_controllers.launch @@ -1,11 +1,12 @@ + - - - + + + - + + + + diff --git a/tiago_controller_configuration/launch/impedance_controller.launch b/tiago_controller_configuration/launch/impedance_controller.launch new file mode 100644 index 00000000..68b3329c --- /dev/null +++ b/tiago_controller_configuration/launch/impedance_controller.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + $(arg model_chains) + + + + + + + + + diff --git a/tiago_controller_configuration/launch/local_joint_control/direct_control.launch b/tiago_controller_configuration/launch/local_joint_control/direct_control.launch index 8286a033..2ad69b3f 100644 --- a/tiago_controller_configuration/launch/local_joint_control/direct_control.launch +++ b/tiago_controller_configuration/launch/local_joint_control/direct_control.launch @@ -5,6 +5,7 @@ + @@ -59,12 +60,22 @@ - + - - - - - + + + + + + + + + + + + + + + diff --git a/tiago_controller_configuration/launch/tiago_controllers.launch b/tiago_controller_configuration/launch/tiago_controllers.launch index 7443354d..ead62d46 100644 --- a/tiago_controller_configuration/launch/tiago_controllers.launch +++ b/tiago_controller_configuration/launch/tiago_controllers.launch @@ -5,11 +5,17 @@ + + + + + + @@ -25,6 +31,28 @@ + + + + + + + + + + + + + + + + + + + + + + @@ -43,6 +71,12 @@ + + + + + + @@ -50,5 +84,9 @@ + + + + diff --git a/tiago_controller_configuration/launch/wbc_controllers.launch b/tiago_controller_configuration/launch/wbc_controllers.launch index c79f7d6d..f71161be 100644 --- a/tiago_controller_configuration/launch/wbc_controllers.launch +++ b/tiago_controller_configuration/launch/wbc_controllers.launch @@ -1,17 +1,20 @@ - + + - - + + + - + + diff --git a/tiago_controller_configuration/package.xml b/tiago_controller_configuration/package.xml index aa6ff98a..b5fdffc8 100644 --- a/tiago_controller_configuration/package.xml +++ b/tiago_controller_configuration/package.xml @@ -1,30 +1,34 @@ - + tiago_controller_configuration - 2.0.38 + 2.3.17 Configuration and launch files of TIAGo's controllers Jordi Pages Bence Magyar - BSD catkin - rospy - control_msgs - trajectory_msgs - sensor_msgs - actionlib - play_motion - current_limit_controller - pal_parallel_gripper_wrapper - joint_state_controller - imu_sensor_controller - joint_trajectory_controller - force_torque_sensor_controller - diff_drive_controller - gravity_compensation_controller - simple_grasping_action - pal_gripper_controller_configuration - pal_wsg_gripper_controller_configuration - current_limit_controller - pal_local_joint_control + Apache License 2.0 + rospy + control_msgs + trajectory_msgs + sensor_msgs + actionlib + play_motion + current_limit_controller + pal_parallel_gripper_wrapper + joint_state_controller + imu_sensor_controller + joint_trajectory_controller + force_torque_sensor_controller + diff_drive_controller + omni_drive_controller + gravity_compensation_controller + simple_grasping_action + pal_gripper_controller_configuration + pal_wsg_gripper_controller_configuration + pal_robotiq_controller_configuration + current_limit_controller + pal_local_joint_control + cartesian_impedance_controller + effort_controllers diff --git a/tiago_description/CHANGELOG.rst b/tiago_description/CHANGELOG.rst index 672b48c4..c0e3c79c 100644 --- a/tiago_description/CHANGELOG.rst +++ b/tiago_description/CHANGELOG.rst @@ -2,6 +2,432 @@ Changelog for package tiago_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.3.17 (2023-11-20) +------------------- + +2.3.16 (2023-11-08) +------------------- + +2.3.15 (2023-10-23) +------------------- +* Merge branch 'feat/use_urdf_utils' into 'erbium-devel' + Use urdf_utils + See merge request robots/tiago_robot!230 +* Use urdf_utils +* Contributors: Jordan Palacios, thomaspeyrucain + +2.3.14 (2023-10-11) +------------------- +* Merge branch 'change_license_to_apache' into 'erbium-devel' + change public license to Apache License 2.0 + See merge request robots/tiago_robot!229 +* change public license to Apache License 2.0 +* Merge branch 'fixed_torso_argument' into 'erbium-devel' + Fixed torso argument + See merge request robots/tiago_robot!225 +* updated the torso to be at half it's range when fixed +* Manual formating +* Added if condition in torso xacro related to fixed_torso parameter +* Added fixed_torso parameter to main xacro +* Merge branch 'davidterkuile-erbium-devel-patch-41052' into 'erbium-devel' + Update deprecated joint state publisher + See merge request robots/tiago_robot!224 +* Update deprecated joint state publisher +* Contributors: Jordan Palacios, Sai Kishor Kothakota, Victor Lutz, davidterkuile + +2.3.13 (2023-08-09) +------------------- + +2.3.12 (2023-06-12) +------------------- +* Merge branch 'control-period-reduced' into 'erbium-devel' + Gazebo control period reduced from 0.001 to 0.01 + See merge request robots/tiago_robot!200 +* control period reduced from 0.001 to 0.01 +* Contributors: Sai Kishor Kothakota, ileniaperrella + +2.3.11 (2023-04-18) +------------------- + +2.3.10 (2023-03-13) +------------------- +* Merge branch 'feat/ydlidar' into 'erbium-devel' + added support to ydlidar + See merge request robots/tiago_robot!183 +* added support to ydlidar +* Merge branch 'grasping-frames' into 'erbium-devel' + Grasping frames macro + See merge request robots/tiago_robot!188 +* Macro to create the grasping frames of the grippers +* Contributors: antoniobrandi, narcismiguel, sergiacosta + +2.3.9 (2022-12-13) +------------------ + +2.3.8 (2022-10-24) +------------------ + +2.3.7 (2022-08-10) +------------------ +* Merge branch 'fix_torso_collision' into 'erbium-devel' + Fix collision boxes for the torso + See merge request robots/tiago_robot!156 +* Fix collision boxes for the torso +* Contributors: saikishor, thomaspeyrucain + +2.3.6 (2022-08-04) +------------------ + +2.3.5 (2022-07-26) +------------------ + +2.3.4 (2022-07-21) +------------------ + +2.3.3 (2022-07-19) +------------------ + +2.3.2 (2022-05-17) +------------------ + +2.3.1 (2022-05-16) +------------------ + +2.3.0 (2022-05-03) +------------------ + +2.2.15 (2022-05-03) +------------------- +* Merge branch 'no-end-effector-bugfix' into 'erbium-devel' + No end effector bugfix + See merge request robots/tiago_robot!149 +* Merge branch 'no-end-effector-bugfix' of gitlab:robots/tiago_robot into no-end-effector-bugfix +* Apply 5 suggestion(s) to 4 file(s) +* remove redundant spaces +* remove redundant spaces +* end effector back to hey-5 +* prevent ft sensor to load when no arm is attached +* add epick end-effector +* add no-ee to urdf +* update motions config file +* fix faulty if statement in urdf +* Update eval function, generate scripts +* add no-ee to urdf +* edit motions config +* update motions config file +* fix faulty if statement in urdf +* made some changes +* Update eval function, generate scripts +* prevent ft sensor to load when no arm is attached +* add epick end-effector +* add no-ee to urdf +* update motions config file +* fix faulty if statement in urdf +* Update eval function, generate scripts +* add no-ee to urdf +* edit motions config +* update motions config file +* fix faulty if statement in urdf +* made some changes +* Update eval function, generate scripts +* add epick end-effector +* add no-ee to urdf +* edit motions config +* update motions config file +* fix faulty if statement in urdf +* made some changes +* Update eval function, generate scripts +* add no-ee to urdf +* edit motions config +* update motions config file +* fix faulty if statement in urdf +* made some changes +* Update eval function, generate scripts +* Contributors: David ter Kuile, saikishor + +2.2.14 (2022-04-20) +------------------- +* Fix materials +* Contributors: Giang Nguyen + +2.2.13 (2022-03-23) +------------------- +* Merge branch 'fix_home_robotiq_2f_140' into 'erbium-devel' + Fix home position for robotiq-2f-140 + fix Reach max out of range motion + add effort_controller + See merge request robots/tiago_robot!148 +* Add pal_robotiq_epick_description dependency on tiago_description package +* Contributors: saikishor, thomaspeyrucain + +2.2.12 (2022-03-18) +------------------- +* Added the robotiq epick to the rostests +* Contributors: Sai Kishor Kothakota + +2.2.11 (2022-03-18) +------------------- +* Merge branch 'add_robotiq_epick_gripper' into 'erbium-devel' + Add link to epick urdf + See merge request robots/tiago_robot!145 +* Match the code with the other robotiq gripper +* add prefix parameter +* Add link to epick urdf +* Contributors: saikishor, thomaspeyrucain + +2.2.10 (2022-02-22) +------------------- + +2.2.9 (2022-01-19) +------------------ + +2.2.8 (2021-12-22) +------------------ + +2.2.7 (2021-11-25) +------------------ +* Merge branch 'omnibase-gravity-fix' into 'erbium-devel' + changing ros_planar_move gazebo plugin with ros_force_based_move in order to preserve gravity + See merge request robots/tiago_robot!143 +* Moved force_based_move AFTER ros_control +* Changed the order of the plugin in order to make the wheel rotating correctly +* Add dependency to the hector gazebo plugin for the omni base simulation +* Removing the needs for a duplicated gazebo.urdf file +* Removed dependencies +* changing ros_planar_move gazebo plugin with ros_force_based_move in order to preserve gravity +* Contributors: antoniobrandi, saikishor + +2.2.6 (2021-11-22) +------------------ + +2.2.5 (2021-11-19) +------------------ +* Merge branch 'fix_arm_1_collision_mesh' into 'erbium-devel' + fix the arm_1_link collision mesh which is causing troubles in capsule_decomposition generation + See merge request robots/tiago_robot!141 +* fix the arm_1_link collision mesh which is causing troubles in capsule_decomposition generation +* Merge branch 'conditional_dependencies' into 'erbium-devel' + Conditional dependencies + See merge request robots/tiago_robot!140 +* added PAL_DISTRO conditioning for PAL dependencies +* change to package version 3 +* Contributors: Sai Kishor Kothakota, victor + +2.2.4 (2021-11-10) +------------------ + +2.2.3 (2021-11-10) +------------------ + +2.2.2 (2021-11-09) +------------------ + +2.2.1 (2021-11-09) +------------------ + +2.2.0 (2021-11-03) +------------------ +* Merge branch 'omni_base_robot' into 'erbium-devel' + Omni base robot + See merge request robots/tiago_robot!137 +* preparing configuration for a tiago with omni base +* Creating tiago with omni_base robot +* Contributors: antoniobrandi, saikishor + +2.1.5 (2021-09-22) +------------------ + +2.1.4 (2021-08-31) +------------------ + +2.1.3 (2021-08-06) +------------------ + +2.1.2 (2021-07-16) +------------------ +* Merge branch 'fix_inertia_matrices' into 'erbium-devel' + fix the inertia matrices of arm_tool_link and of force torque sensor + See merge request robots/tiago_robot!129 +* fix the inertia matrices of arm_tool_link and of force torque sensor +* Merge branch 'update-apache-licence-2021' into 'erbium-devel' + Updating apache License 2021 + See merge request robots/tiago_robot!128 +* Updating apache License +* Contributors: Sai Kishor Kothakota, ThomasPeyrucain, saikishor, victor + +2.1.1 (2021-06-01) +------------------ +* Merge branch 'parametrize-robot-description' into 'erbium-devel' + Parametrize robot_description param name + See merge request robots/tiago_robot!127 +* Parametrize robot_description param name +* Contributors: Victor Lopez, victor + +2.1.0 (2021-05-06) +------------------ +* Merge branch 'robotiq_gripper' into 'erbium-devel' + Robotiq gripper + See merge request robots/tiago_robot!125 +* add robotiq dependencies and robotiq grippers to the tests +* update the robotiq end effector naming +* integrate the new robotiq-85 and robotiq-140 grippers +* Contributors: Sai Kishor Kothakota, saikishor + +2.0.58 (2021-04-09) +------------------- + +2.0.57 (2021-03-19) +------------------- +* Merge branch 'custom-end-effector-dual' into 'erbium-devel' + Custom end effector dual + See merge request robots/tiago_robot!123 +* fix: logic loading custom ee urdf from tiago_robot +* fix: load custom urdfs +* fix: treat string as binary always entering to dual if +* fix: duplicating right ee causing error link +* fix: xacro negation +* Contributors: daniellopez, victor + +2.0.56 (2021-03-01) +------------------- +* Merge branch 'fix_left_arm_tiago_dual_com' into 'erbium-devel' + Add reflect for 4th link CoM + See merge request robots/tiago_robot!122 +* Add reflect for 4th link CoM +* Contributors: Luca Marchionni, victor + +2.0.55 (2021-01-15) +------------------- +* Merge branch 'gravity_compensation_fix' into 'erbium-devel' + Update arm_3_link weight for gravity compensation + See merge request robots/tiago_robot!120 +* Update arm_3_link weight for gravity compensation +* Contributors: Adria Roig, victor + +2.0.54 (2020-09-08) +------------------- +* Merge branch 'no_safety_eps_head' into 'erbium-devel' + added no safety eps to head + See merge request robots/tiago_robot!119 +* fix the no_safety_epc head macro issue +* added no safety eps to head +* Merge branch 'new-endoscopic-dual' of gitlab:robots/tiago_robot into new-endoscopic-dual +* Contributors: Sai Kishor Kothakota, daniellopez, victor + +2.0.53 (2020-07-30) +------------------- + +2.0.52 (2020-07-27) +------------------- + +2.0.51 (2020-07-15) +------------------- +* Merge branch 'fix-head-calibration' into 'erbium-devel' + add eps to head_motor_2 head.urdf.xacro + See merge request robots/tiago_robot!116 +* add eps to head_motor_2 head.urdf.xacro +* Contributors: daniellopez, victor + +2.0.50 (2020-07-10) +------------------- +* Merge branch 'add-no-safety-eps' into 'erbium-devel' + Add the option of disabling arm_safety_eps via launch file + See merge request robots/tiago_robot!115 +* Fix default no_safety_eps value +* Add the option of disabling arm_safety_eps via launch file +* Contributors: Victor Lopez, victor + +2.0.49 (2020-07-01) +------------------- +* Merge branch 'add-master-calibration' into 'erbium-devel' + Add master calibration compatibility for eye hand and extrinsic + See merge request robots/tiago_robot!114 +* Proper pal_camera_calibration_extrinsics path +* Add master calibration compatibility for eye hand and extrinsic +* Contributors: Victor Lopez, victor + +2.0.48 (2020-06-10) +------------------- +* Merge branch 'gravity-compensation' into 'erbium-devel' + change values to have a better gravity compensation. Not optimum result for all tiagos found + See merge request robots/tiago_robot!113 +* change values to have a better gravity compensation. Not optimum result for all tiagos found +* Contributors: daniellopez, victor + +2.0.47 (2020-05-15) +------------------- +* Merge branch 'wrist-2017' into 'erbium-devel' + adjust mass of wrist-2017 + See merge request robots/tiago_robot!112 +* adjust mass of wrist-2017 +* Contributors: YueErro, victor + +2.0.46 (2020-05-13) +------------------- +* Merge branch 'wrist-2019' into 'erbium-devel' + Use mass and inertia values based on the wrist type + See merge request robots/tiago_robot!111 +* Use mass and inertia values based on the wrist type +* Contributors: Sai Kishor Kothakota, victor + +2.0.45 (2020-05-12) +------------------- +* Merge branch 'remove_default_parsed_package' into 'erbium-devel' + remove default description_calibration_package argument in head + See merge request robots/tiago_robot!110 +* Merge branch 'no_arm' into 'erbium-devel' + fix wrong_wrist_model condition + See merge request robots/tiago_robot!107 +* fix wrong_wrist_model condition +* remove default description_calibration_package argument in head +* Contributors: saikishor, victor, yueerro + +2.0.44 (2020-05-12) +------------------- +* Merge branch 'description-calibration-fixes' into 'erbium-devel' + Description calibration fixes + See merge request robots/tiago_robot!109 +* parse package name instead of individual elements and load files respective to package +* pass the camera origin as an argument to head +* Contributors: Sai Kishor Kothakota, victor + +2.0.43 (2020-05-08) +------------------- +* Fix mesh orientation +* Merge branch 'fix-orbbec-astra' into 'erbium-devel' + Fix frames for orbbec astra + See merge request robots/tiago_robot!108 +* depth frame for orbbec is referenced on the rgb frame +* Fix y orientation error +* Fix frames for orbbec astra +* Remove unused properties +* Contributors: Victor Lopez, victor + +2.0.42 (2020-05-07) +------------------- +* Use different meshes for wrist 2017 +* Contributors: Victor Lopez + +2.0.41 (2020-05-07) +------------------- +* Adjust end_effector-wrist distance without FT sensor +* Contributors: Victor Lopez + +2.0.40 (2020-05-06) +------------------- +* Merge branch 'fix-tiago-wrist-offset' into 'erbium-devel' + Change wrist tool link position with wrist 2017 + See merge request robots/tiago_robot!106 +* Change wrist tool link position with wrist 2017 +* Contributors: Victor Lopez, victor + +2.0.39 (2020-04-21) +------------------- +* Merge branch 'custom-ee' into 'erbium-devel' + Allow using custom end-effector + See merge request robots/tiago_robot!102 +* Add test for custom End-Effector +* Allow using custom end-effector +* Contributors: davidfernandez, victor + 2.0.38 (2020-02-27) ------------------- diff --git a/tiago_description/CMakeLists.txt b/tiago_description/CMakeLists.txt index ffa11e7b..b67344b6 100644 --- a/tiago_description/CMakeLists.txt +++ b/tiago_description/CMakeLists.txt @@ -18,7 +18,7 @@ if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) foreach(arm true false) # Separated to speed up tests, otherwise it's over 13min - foreach(end_effector false pal-gripper pal-hey5 schunk-wsg) + foreach(end_effector false pal-gripper pal-hey5 schunk-wsg robotiq-2f-85 robotiq-2f-140 robotiq-epick custom) foreach(ft_sensor false schunk-ft) add_rostest(test/test_tiago.test ARGS arm:=${arm} end_effector:=${end_effector} ft_sensor:=${ft_sensor}) diff --git a/tiago_description/gazebo/gazebo.urdf.xacro b/tiago_description/gazebo/gazebo.urdf.xacro index 61153d4b..8551f4de 100644 --- a/tiago_description/gazebo/gazebo.urdf.xacro +++ b/tiago_description/gazebo/gazebo.urdf.xacro @@ -1,12 +1,16 @@ @@ -20,9 +24,20 @@ - 0.001 + 0.01 + + + mobile_base_controller/cmd_vel + mobile_base_controller/odom + odom + 50.0 + base_footprint + true + + + base_footprint ground_truth_odom diff --git a/tiago_description/meshes/arm/arm_1_collision.dae b/tiago_description/meshes/arm/arm_1_collision.dae index e34daaeb..0d741cd4 100644 --- a/tiago_description/meshes/arm/arm_1_collision.dae +++ b/tiago_description/meshes/arm/arm_1_collision.dae @@ -6,8 +6,8 @@ VCGLib | MeshLab Y_UP - Thu Apr 7 16:05:24 2016 - Thu Apr 7 16:05:24 2016 + Fri Nov 19 09:06:53 2021 + Fri Nov 19 09:06:53 2021 @@ -16,9 +16,9 @@ - -0.0233805 0.0458868 -0.008 -0.0497177 -0.0134311 0.0187417 0.055 -0.0328774 -0.049 0.055 -0.0328774 -0.015 0.160975 0.0185 0.00585181 0.158511 0.076 0.00876188 0.175541 0.076 -0.0187704 0.176093 0.019 -0.0406678 0.175541 0.076 -0.0432296 0.0724895 0.0175 -0.0381867 0.0796442 0.0185 -0.0553947 0.145 0.0861179 -0.0664869 0.158511 0.076 -0.0707619 0.160529 0.087459 -0.0250202 0.059 0.0589651 -0.053 0.0840397 -0.0165518 0.00960628 0.052 -0.0379219 -0.012 -0.0438526 0.0190167 0.0242634 0.0351583 -0.0515 0.0308095 0.0748004 -0.0264211 -0.053 0.0751007 -0.0239885 -0.0131377 0.052 0.0534118 -0.012 0.0874382 0.0175 0.00752302 0.136626 0.076 0.0196837 0.122556 0.019 0.0209425 0.17412 0.0185 -0.0155243 0.159247 0.0185 -0.0694625 0.128492 0.076 -0.0828826 0.120177 0.019 -0.0827759 0.0944881 0.0733357 -0.0731073 0.0576163 -0.038805 -0.00881482 -0.0515 -1.67638e-08 -0.008 -0.0233805 -0.0458869 -0.008 -0.0441048 -0.0224725 -0.0114641 0.0351583 -0.0515 -0.008 0.055 0.0577859 -0.049 0.0399666 0.0512325 -0.01 7.45058e-09 0.0475 -0.012 0.0773997 0.074 -0.0510736 0.055 0.0577859 -0.015 -0.0328366 0.0396738 0.0232528 0.00980447 -0.0224887 0.038 0.0683718 -0.0310542 0.0327735 0.10084 0.056 0.0150469 0.0740075 0.0559561 0.0239338 0.0791341 0.074827 0.02135 0.037091 0.0515 0.0308095 0.00316839 0.047001 0.0357843 + 0.040006 -0.0514749 -0.0101374 0.0877559 0.0184998 -0.0673988 0.119943 0.0185007 -0.0831367 0.136641 0.0853343 0.021212 0.153703 0.0789081 -0.0791226 0.0868329 0.0626882 0.00663955 0.080256 0.0184999 -0.00244899 0.0399827 -0.0514816 0.0330885 0.0773834 0.0741142 -0.0530055 0.0413891 0.0514988 -0.0119977 0.118295 0.0185001 0.0211391 0.157444 0.0185014 0.00945606 0.176096 0.0185 -0.0406526 0.155062 0.0183875 -0.0755904 0.170551 0.0818258 -0.00404703 0.174347 0.0184991 -0.0122519 0.176783 0.0775526 -0.0409163 0.0983766 0.0796725 -0.0770712 -0.0174848 -0.0510481 0.0326697 0.071031 -0.0288667 -0.0244939 0.0744196 0.0184226 -0.0525059 0.0721638 0.068841 0.033487 0.0550447 -0.0389911 -0.0528314 0.0550834 -0.0392337 -0.0120009 -0.0397433 -0.0332524 -0.0105068 -0.0219665 0.0497599 -0.0119823 -0.0511582 0.00865972 -0.0119763 -0.0124029 -0.0513754 -0.0119986 0.0550134 0.0600072 -0.0529675 0.055 0.0577859 -0.015 0.00495822 0.00356282 0.0384663 0.0699639 -0.0277595 0.0378718 0.042567 0.0516215 0.0366984 -0.0099156 0.0514505 0.034391 -0.0556602 0.0107831 0.0205483 0.0740075 -0.0237814 0.0239338 0.0866623 -0.0178654 0.00587809 0.0784699 0.0747192 0.0175504 0.140696 0.0899168 -0.0486688 - 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+ @@ -38,10 +38,10 @@ - + -

45 0 11 0 38 0 47 1 0 1 40 1 40 2 0 2 31 2 40 3 31 3 17 3 17 4 31 4 1 4 1 5 31 5 33 5 33 6 32 6 1 6 1 7 32 7 18 7 18 8 32 8 34 8 35 9 2 9 39 9 39 10 2 10 3 10 4 11 5 11 23 11 24 12 23 12 43 12 4 13 6 13 5 13 8 14 6 14 7 14 8 15 7 15 26 15 8 16 26 16 12 16 29 17 38 17 11 17 24 18 9 18 10 18 25 19 10 19 28 19 10 20 25 20 4 20 10 21 4 21 24 21 25 22 28 22 26 22 29 23 11 23 27 23 11 24 12 24 27 24 8 25 12 25 11 25 6 26 8 26 13 26 13 27 5 27 6 27 13 28 23 28 5 28 10 29 19 29 14 29 22 30 43 30 44 30 15 31 22 31 44 31 37 32 21 32 16 32 31 33 37 33 33 33 37 34 16 34 33 34 47 35 17 35 41 35 18 36 30 36 42 36 19 37 20 37 30 37 38 38 10 38 14 38 29 39 10 39 38 39 16 40 21 40 3 40 3 41 21 41 39 41 9 42 24 42 22 42 22 43 20 43 9 43 10 44 9 44 19 44 4 45 23 45 24 45 25 46 6 46 4 46 25 47 7 47 6 47 25 48 26 48 7 48 26 49 27 49 12 49 27 50 26 50 28 50 28 51 29 51 27 51 28 52 10 52 29 52 20 53 22 53 15 53 18 54 34 54 30 54 9 55 20 55 19 55 16 56 30 56 34 56 30 57 16 57 3 57 33 58 16 58 34 58 2 59 19 59 30 59 30 60 3 60 2 60 0 61 37 61 31 61 37 62 0 62 47 62 32 63 33 63 34 63 2 64 35 64 14 64 19 65 2 65 14 65 35 66 38 66 14 66 36 67 37 67 47 67 36 68 47 68 46 68 45 69 38 69 36 69 45 70 36 70 46 70 38 71 21 71 36 71 36 72 21 72 37 72 38 73 35 73 39 73 38 74 39 74 21 74 1 75 41 75 17 75 40 76 17 76 47 76 18 77 41 77 1 77 41 78 18 78 42 78 42 79 30 79 15 79 42 80 15 80 44 80 44 81 43 81 45 81 45 82 43 82 23 82 46 83 44 83 45 83 11 84 45 84 13 84 13 85 8 85 11 85 13 86 45 86 23 86 24 87 43 87 22 87 15 88 30 88 20 88 42 89 44 89 46 89 42 90 46 90 47 90 41 91 42 91 47 91

+

27 0 0 0 7 0 7 1 18 1 27 1 33 2 25 2 34 2 34 3 24 3 18 3 18 4 24 4 27 4 32 5 9 5 33 5 33 6 9 6 25 6 28 7 22 7 29 7 29 8 22 8 23 8 3 9 5 9 10 9 1 10 8 10 17 10 15 11 14 11 11 11 14 12 15 12 16 12 10 13 6 13 20 13 15 14 20 14 1 14 20 15 15 15 11 15 20 16 11 16 10 16 6 17 19 17 20 17 1 18 2 18 15 18 12 19 15 19 13 19 13 20 15 20 2 20 12 21 13 21 4 21 16 22 4 22 38 22 4 23 2 23 17 23 14 24 3 24 11 24 35 25 36 25 5 25 5 26 37 26 35 26 8 27 20 27 28 27 20 28 22 28 28 28 19 29 6 29 36 29 36 30 6 30 5 30 23 31 27 31 9 31 9 32 27 32 25 32 27 33 26 33 25 33 32 34 30 34 31 34 18 35 30 35 33 35 33 36 34 36 18 36 37 37 5 37 3 37 35 38 37 38 21 38 35 39 21 39 31 39 32 40 37 40 9 40 37 41 28 41 9 41 37 42 8 42 28 42 23 43 36 43 0 43 0 44 36 44 7 44 20 45 19 45 22 45 22 46 19 46 23 46 23 47 19 47 36 47 6 48 10 48 5 48 2 49 1 49 17 49 11 50 3 50 10 50 2 51 4 51 13 51 16 52 12 52 4 52 15 53 12 53 16 53 20 54 8 54 1 54 18 55 31 55 30 55 33 56 30 56 32 56 27 57 23 57 0 57 34 58 26 58 24 58 24 59 26 59 27 59 34 60 25 60 26 60 23 61 9 61 29 61 9 62 28 62 29 62 21 63 32 63 31 63 32 64 21 64 37 64 31 65 18 65 7 65 35 66 31 66 7 66 36 67 35 67 7 67 37 68 17 68 8 68 3 69 14 69 38 69 37 70 3 70 38 70 38 71 17 71 37 71 17 72 38 72 4 72 38 73 14 73 16 73

diff --git a/tiago_description/meshes/arm/arm_5.stl b/tiago_description/meshes/arm/arm_5-wrist-2010.stl similarity index 100% rename from tiago_description/meshes/arm/arm_5.stl rename to tiago_description/meshes/arm/arm_5-wrist-2010.stl diff --git a/tiago_description/meshes/arm/arm_5-wrist-2017.stl b/tiago_description/meshes/arm/arm_5-wrist-2017.stl new file mode 100644 index 00000000..59fa308f Binary files /dev/null and b/tiago_description/meshes/arm/arm_5-wrist-2017.stl differ diff --git a/tiago_description/meshes/arm/arm_5_collision.dae b/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae similarity index 100% rename from tiago_description/meshes/arm/arm_5_collision.dae rename to tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae diff --git a/tiago_description/meshes/arm/arm_5_collision-wrist-2017.dae b/tiago_description/meshes/arm/arm_5_collision-wrist-2017.dae new file mode 100644 index 00000000..2a50ba0a --- /dev/null +++ b/tiago_description/meshes/arm/arm_5_collision-wrist-2017.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + vie may 8 15:04:47 2020 + vie may 8 15:04:47 2020 + + + + + + + + + -0.0100259 0.0664413 0.015951 -0.0360293 0.0572267 0.0155872 -0.0429416 0.0443137 0.14694 -0.0286856 0.0545212 0.155518 -0.0289823 0.0342616 0.180603 -0.0480449 -0.0422549 0.114014 -0.0298509 -0.0569821 0.0933055 -0.0414527 -0.0533629 0.0150232 -0.025716 -0.0557659 0.154578 -0.0108337 -0.0467369 0.179081 -0.0166824 -0.0647184 0.0159404 -0.0536152 0.0403732 -0.00315305 -0.0530591 0.00321132 0.142544 -0.0584304 0.0300098 0.0619663 -0.0626114 0.00709891 0.0812713 -0.0437488 0.0487899 0.0786291 -0.0621631 0.0234909 -0.0083685 -0.063705 -0.014389 0.0635035 -0.0594422 -0.0323529 -0.0069749 -0.0667241 0.00124407 -0.0104472 -0.060856 -0.0237068 -0.011804 -0.0595464 0.0283758 0.0151796 -0.0596175 -0.0283274 0.0151827 0.0173265 0.0558275 0.15337 0.00771613 0.044837 0.179675 -0.00240476 0.0593822 0.155918 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diff --git a/tiago_description/meshes/arm/arm_6.stl b/tiago_description/meshes/arm/arm_6-wrist-2010.stl similarity index 100% rename from tiago_description/meshes/arm/arm_6.stl rename to tiago_description/meshes/arm/arm_6-wrist-2010.stl diff --git a/tiago_description/meshes/arm/arm_6-wrist-2017.stl b/tiago_description/meshes/arm/arm_6-wrist-2017.stl new file mode 100644 index 00000000..4355323e Binary files /dev/null and b/tiago_description/meshes/arm/arm_6-wrist-2017.stl differ diff --git a/tiago_description/meshes/arm/arm_6_collision.dae b/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae similarity index 100% rename from tiago_description/meshes/arm/arm_6_collision.dae rename to tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae diff --git a/tiago_description/meshes/arm/arm_6_collision-wrist-2017.dae b/tiago_description/meshes/arm/arm_6_collision-wrist-2017.dae new file mode 100644 index 00000000..9eb7491d --- /dev/null +++ b/tiago_description/meshes/arm/arm_6_collision-wrist-2017.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + vie may 8 15:05:12 2020 + vie may 8 15:05:12 2020 + + + + + + + + + 0.0681936 -0.0173679 0.0128639 -0.00746197 0.0286788 -0.0164499 0.0165702 0.0286948 -0.0152208 0.0204573 0.0358224 -0.0099891 0.00263461 0.0420429 -0.00683052 -0.0405509 -0.000107661 -0.01082 -0.0168844 0.0372536 -0.0104957 -0.0372761 0.01836 -0.00943817 0.0191851 0.0360475 0.0127481 -0.0300664 0.0288207 0.00970037 -0.0118291 0.0385298 0.0107622 -0.0233925 0.0230628 0.0155293 0.0260441 0.0128071 0.0164997 0.00690605 0.0291913 0.0164448 0.0360682 0.0192062 0.010483 0.068199 0.0087767 0.0198652 0.0681997 0.0191348 0.00962575 0.0681796 0.0215913 -0.00310508 0.0367159 0.0215226 -0.0022553 0.0682021 0.0160292 -0.0140477 0.0682006 0.00759627 -0.0194826 0.0363692 0.0180223 -0.0114774 0.01247 -0.026583 -0.0164761 -0.0194836 -0.0246561 -0.0156337 -0.0305744 0.0022702 -0.0164658 -0.000965222 -0.0394894 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16 0 15 0 19 0 19 1 15 1 20 1 15 2 42 2 20 2 39 3 42 3 41 3 41 4 42 4 15 4 19 5 17 5 16 5 39 6 41 6 0 6 1 7 47 7 24 7 2 8 47 8 1 8 21 9 47 9 2 9 21 10 2 10 3 10 3 11 2 11 4 11 4 12 2 12 1 12 4 13 1 13 6 13 6 14 1 14 24 14 6 15 24 15 7 15 7 16 24 16 5 16 8 17 14 17 18 17 18 18 21 18 3 18 6 19 7 19 9 19 6 20 10 20 4 20 3 21 8 21 18 21 35 22 7 22 5 22 4 23 8 23 3 23 10 24 6 24 9 24 9 25 7 25 35 25 4 26 10 26 8 26 8 27 12 27 14 27 35 28 37 28 11 28 35 29 11 29 9 29 9 30 11 30 10 30 10 31 11 31 13 31 10 32 13 32 8 32 12 33 8 33 13 33 13 34 11 34 37 34 12 35 13 35 37 35 15 36 12 36 44 36 16 37 14 37 15 37 15 38 14 38 12 38 14 39 16 39 17 39 17 40 18 40 14 40 19 41 21 41 17 41 17 42 21 42 18 42 47 43 19 43 20 43 47 44 20 44 45 44 45 45 20 45 42 45 45 46 43 46 47 46 24 47 47 47 43 47 43 48 22 48 24 48 22 49 43 49 46 49 22 50 23 50 24 50 22 51 25 51 23 51 23 52 28 52 24 52 23 53 25 53 28 53 22 54 46 54 31 54 22 55 31 55 25 55 28 56 5 56 24 56 28 57 25 57 29 57 33 58 26 58 40 58 31 59 46 59 26 59 5 60 28 60 27 60 35 61 5 61 27 61 34 62 30 62 31 62 27 63 32 63 35 63 28 64 29 64 27 64 27 65 29 65 32 65 25 66 30 66 29 66 30 67 34 67 29 67 29 68 34 68 32 68 25 69 31 69 30 69 31 70 26 70 33 70 31 71 33 71 34 71 33 72 40 72 38 72 32 73 37 73 35 73 34 74 33 74 36 74 34 75 36 75 32 75 32 76 36 76 37 76 36 77 12 77 37 77 12 78 36 78 38 78 38 79 36 79 33 79 39 80 26 80 46 80 0 81 40 81 39 81 39 82 40 82 26 82 40 83 0 83 44 83 44 84 0 84 41 84 44 85 41 85 15 85 39 86 46 86 42 86 42 87 46 87 45 87 45 88 46 88 43 88 12 89 38 89 44 89 40 90 44 90 38 90 47 91 21 91 19 91

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diff --git a/tiago_description/package.xml b/tiago_description/package.xml index 00f9b7f1..aebc0af0 100644 --- a/tiago_description/package.xml +++ b/tiago_description/package.xml @@ -1,24 +1,31 @@ - + tiago_description - 2.0.38 + 2.3.17 This package contains the description (mechanical, kinematic, visual, etc.) of the TIAGO robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package. Jordi Pages - Hilario Tome - Creative Commons BY-NC-ND 3.0 + Jordan Palacios + Apache License 2.0 catkin - xacro - pmb2_description - hey5_description - pal_gripper_description - pal_wsg_gripper_description - tiago_description_calibration + xacro + pmb2_description + omni_base_description + hey5_description + pal_gripper_description + pal_wsg_gripper_description + tiago_description_calibration + custom_ee_description + pal_robotiq_85_description + pal_robotiq_140_description + pal_robotiq_epick_description + hector_gazebo_plugins + pal_urdf_utils rostest urdf_test diff --git a/tiago_description/robots/show.launch b/tiago_description/robots/show.launch index f1f6730d..9f9c3fe1 100644 --- a/tiago_description/robots/show.launch +++ b/tiago_description/robots/show.launch @@ -5,6 +5,7 @@ + @@ -12,10 +13,11 @@ + - + diff --git a/tiago_description/robots/tiago.urdf.xacro b/tiago_description/robots/tiago.urdf.xacro index 91d7035e..e00d3b32 100644 --- a/tiago_description/robots/tiago.urdf.xacro +++ b/tiago_description/robots/tiago.urdf.xacro @@ -1,12 +1,18 @@ + @@ -17,7 +23,12 @@ + + + + + @@ -25,40 +36,47 @@ - - - + + + + + + + + - + - + + + + + - - - - - - + + + + - + @@ -67,7 +85,7 @@ - + @@ -78,26 +96,36 @@ + + + - - - + + + + + + - + - + - - + + + @@ -130,5 +158,3 @@ - - diff --git a/tiago_description/robots/upload.launch b/tiago_description/robots/upload.launch index 47f861a3..0e295711 100644 --- a/tiago_description/robots/upload.launch +++ b/tiago_description/robots/upload.launch @@ -2,14 +2,18 @@ - + - + + + + + - diff --git a/tiago_description/urdf/arm/arm.urdf.xacro b/tiago_description/urdf/arm/arm.urdf.xacro index dceefda6..bf81d7b1 100644 --- a/tiago_description/urdf/arm/arm.urdf.xacro +++ b/tiago_description/urdf/arm/arm.urdf.xacro @@ -1,17 +1,21 @@ + - @@ -26,12 +30,12 @@ - - + + @@ -122,7 +126,7 @@ - + @@ -164,7 +168,7 @@ - + - + + @@ -246,7 +251,7 @@ - + @@ -263,10 +268,16 @@ + + + + + + - + diff --git a/tiago_description/urdf/arm/wrist.urdf.xacro b/tiago_description/urdf/arm/wrist.urdf.xacro index e65627bb..370a003d 100644 --- a/tiago_description/urdf/arm/wrist.urdf.xacro +++ b/tiago_description/urdf/arm/wrist.urdf.xacro @@ -1,17 +1,21 @@ + - @@ -23,9 +27,9 @@ - - + + @@ -33,22 +37,30 @@ - - + + + + + + + + - + - + @@ -70,26 +82,41 @@ - - + + + + + + + + - + - + + + + + + + + @@ -107,10 +134,18 @@ - - + + + + + + + + diff --git a/tiago_description/urdf/deg_to_rad.xacro b/tiago_description/urdf/deg_to_rad.xacro deleted file mode 100644 index aacbf005..00000000 --- a/tiago_description/urdf/deg_to_rad.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/tiago_description/urdf/end_effector/end_effector.urdf.xacro b/tiago_description/urdf/end_effector/end_effector.urdf.xacro index 953f8109..34cafde8 100644 --- a/tiago_description/urdf/end_effector/end_effector.urdf.xacro +++ b/tiago_description/urdf/end_effector/end_effector.urdf.xacro @@ -1,13 +1,18 @@ + @@ -21,8 +26,16 @@ - parent: Parent link - reflect: Set to 1 for a right end effector, or to -1 for a left end effector --> - + + + + + + + + + @@ -83,6 +96,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tiago_description/urdf/end_effector/grasping_frames.xacro b/tiago_description/urdf/end_effector/grasping_frames.xacro new file mode 100644 index 00000000..9ce5c6a3 --- /dev/null +++ b/tiago_description/urdf/end_effector/grasping_frames.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tiago_description/urdf/head/head.urdf.xacro b/tiago_description/urdf/head/head.urdf.xacro index d96ad31a..aac2c32b 100644 --- a/tiago_description/urdf/head/head.urdf.xacro +++ b/tiago_description/urdf/head/head.urdf.xacro @@ -1,26 +1,29 @@ + - - + - @@ -121,21 +124,35 @@ + soft_upper_limit="${head_2_upper_limit * deg_to_rad - head_eps}" /> - + + + + + + - - - - - + + + + + + + + + + + + + + diff --git a/tiago_description/urdf/materials.urdf.xacro b/tiago_description/urdf/materials.urdf.xacro deleted file mode 100644 index ad519003..00000000 --- a/tiago_description/urdf/materials.urdf.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/tiago_description/urdf/sensors/ftsensor.urdf.xacro b/tiago_description/urdf/sensors/ftsensor.urdf.xacro index 95f528af..cceddfcd 100644 --- a/tiago_description/urdf/sensors/ftsensor.urdf.xacro +++ b/tiago_description/urdf/sensors/ftsensor.urdf.xacro @@ -1,12 +1,16 @@ @@ -18,7 +22,7 @@ - + @@ -47,7 +51,7 @@ - + diff --git a/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro b/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro new file mode 100644 index 00000000..60667e10 --- /dev/null +++ b/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro @@ -0,0 +1,170 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro b/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro index a68f747c..f6c42fe1 100644 --- a/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro +++ b/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro @@ -1,34 +1,27 @@ + - - + + + + diff --git a/tiago_description/urdf/torso/torso.urdf.xacro b/tiago_description/urdf/torso/torso.urdf.xacro index eb027a44..c82d46b1 100644 --- a/tiago_description/urdf/torso/torso.urdf.xacro +++ b/tiago_description/urdf/torso/torso.urdf.xacro @@ -1,17 +1,21 @@ + - @@ -39,13 +43,13 @@ - + - + @@ -76,7 +80,7 @@ - + @@ -131,23 +135,30 @@ - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + diff --git a/tiago_robot/CHANGELOG.rst b/tiago_robot/CHANGELOG.rst index c934f79e..1c6c06e7 100644 --- a/tiago_robot/CHANGELOG.rst +++ b/tiago_robot/CHANGELOG.rst @@ -2,6 +2,196 @@ Changelog for package tiago_robot ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.3.17 (2023-11-20) +------------------- + +2.3.16 (2023-11-08) +------------------- + +2.3.15 (2023-10-23) +------------------- + +2.3.14 (2023-10-11) +------------------- + +2.3.13 (2023-08-09) +------------------- + +2.3.12 (2023-06-12) +------------------- + +2.3.11 (2023-04-18) +------------------- + +2.3.10 (2023-03-13) +------------------- + +2.3.9 (2022-12-13) +------------------ + +2.3.8 (2022-10-24) +------------------ + +2.3.7 (2022-08-10) +------------------ + +2.3.6 (2022-08-04) +------------------ + +2.3.5 (2022-07-26) +------------------ + +2.3.4 (2022-07-21) +------------------ + +2.3.3 (2022-07-19) +------------------ + +2.3.2 (2022-05-17) +------------------ + +2.3.1 (2022-05-16) +------------------ + +2.3.0 (2022-05-03) +------------------ + +2.2.15 (2022-05-03) +------------------- +* remove redundant spaces +* remove redundant spaces +* Contributors: David ter Kuile + +2.2.14 (2022-04-20) +------------------- + +2.2.13 (2022-03-23) +------------------- + +2.2.12 (2022-03-18) +------------------- + +2.2.11 (2022-03-18) +------------------- + +2.2.10 (2022-02-22) +------------------- + +2.2.9 (2022-01-19) +------------------ + +2.2.8 (2021-12-22) +------------------ + +2.2.7 (2021-11-25) +------------------ + +2.2.6 (2021-11-22) +------------------ + +2.2.5 (2021-11-19) +------------------ +* Merge branch 'conditional_dependencies' into 'erbium-devel' + Conditional dependencies + See merge request robots/tiago_robot!140 +* change to package version 3 +* Contributors: Sai Kishor Kothakota, victor + +2.2.4 (2021-11-10) +------------------ + +2.2.3 (2021-11-10) +------------------ + +2.2.2 (2021-11-09) +------------------ + +2.2.1 (2021-11-09) +------------------ + +2.2.0 (2021-11-03) +------------------ + +2.1.5 (2021-09-22) +------------------ + +2.1.4 (2021-08-31) +------------------ + +2.1.3 (2021-08-06) +------------------ + +2.1.2 (2021-07-16) +------------------ + +2.1.1 (2021-06-01) +------------------ + +2.1.0 (2021-05-06) +------------------ + +2.0.58 (2021-04-09) +------------------- + +2.0.57 (2021-03-19) +------------------- + +2.0.56 (2021-03-01) +------------------- + +2.0.55 (2021-01-15) +------------------- + +2.0.54 (2020-09-08) +------------------- +* Merge branch 'new-endoscopic-dual' of gitlab:robots/tiago_robot into new-endoscopic-dual +* Contributors: daniellopez + +2.0.53 (2020-07-30) +------------------- + +2.0.52 (2020-07-27) +------------------- + +2.0.51 (2020-07-15) +------------------- + +2.0.50 (2020-07-10) +------------------- + +2.0.49 (2020-07-01) +------------------- + +2.0.48 (2020-06-10) +------------------- + +2.0.47 (2020-05-15) +------------------- + +2.0.46 (2020-05-13) +------------------- + +2.0.45 (2020-05-12) +------------------- + +2.0.44 (2020-05-12) +------------------- + +2.0.43 (2020-05-08) +------------------- + +2.0.42 (2020-05-07) +------------------- + +2.0.41 (2020-05-07) +------------------- + +2.0.40 (2020-05-06) +------------------- + +2.0.39 (2020-04-21) +------------------- + 2.0.38 (2020-02-27) ------------------- diff --git a/tiago_robot/package.xml b/tiago_robot/package.xml index f1777afe..559df92d 100644 --- a/tiago_robot/package.xml +++ b/tiago_robot/package.xml @@ -1,7 +1,7 @@ - + tiago_robot - 2.0.38 + 2.3.17 Description and controller configuration of TIAGo Hilario Tome Jordi Pages @@ -9,9 +9,9 @@ BSD catkin - tiago_description - tiago_controller_configuration - tiago_bringup + tiago_description + tiago_controller_configuration + tiago_bringup