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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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2 0 12 0 4 0 35 1 36 1 8 1 11 2 15 2 1 2 25 3 29 3 0 3 25 4 0 4 3 4 3 5 0 5 1 5 3 6 1 6 15 6 3 7 15 7 2 7 4 8 3 8 2 8 24 9 25 9 4 9 4 10 25 10 3 10 55 11 49 11 9 11 7 12 5 12 18 12 8 13 6 13 35 13 6 14 8 14 5 14 10 15 35 15 6 15 10 16 6 16 7 16 7 17 6 17 5 17 8 18 49 18 5 18 49 19 8 19 9 19 7 20 22 20 10 20 21 21 19 21 16 21 21 22 16 22 1 22 16 23 11 23 1 23 2 24 14 24 12 24 2 25 15 25 13 25 17 26 14 26 19 26 13 27 14 27 2 27 19 28 14 28 13 28 15 29 11 29 13 29 13 30 11 30 16 30 16 31 19 31 13 31 12 32 5 32 49 32 17 33 5 33 12 33 17 34 19 34 18 34 18 35 5 35 17 35 12 36 14 36 17 36 22 37 7 37 20 37 22 38 20 38 19 38 7 39 18 39 20 39 20 40 18 40 19 40 21 41 1 41 10 41 10 42 1 42 0 42 10 43 22 43 21 43 19 44 21 44 22 44 24 45 4 45 57 45 57 46 26 46 24 46 27 47 23 47 26 47 24 48 26 48 23 48 23 49 25 49 24 49 0 50 29 50 31 50 31 51 29 51 28 51 31 52 28 52 27 52 31 53 27 53 30 53 23 54 27 54 28 54 23 55 28 55 25 55 25 56 28 56 29 56 32 57 54 57 55 57 47 58 34 58 39 58 36 59 9 59 8 59 55 60 9 60 32 60 9 61 36 61 32 61 47 62 33 62 34 62 34 63 33 63 38 63 34 64 38 64 39 64 37 65 32 65 36 65 32 66 37 66 38 66 38 67 33 67 32 67 38 68 37 68 39 68 39 69 37 69 36 69 39 70 36 70 35 70 10 71 39 71 35 71 45 72 47 72 39 72 26 73 56 73 27 73 27 74 56 74 41 74 41 75 30 75 27 75 42 76 30 76 41 76 40 77 42 77 41 77 40 78 41 78 43 78 56 79 43 79 41 79 42 80 46 80 30 80 54 81 32 81 33 81 44 82 40 82 43 82 40 83 44 83 45 83 40 84 45 84 42 84 43 85 54 85 44 85 54 86 33 86 44 86 44 87 33 87 45 87 45 88 33 88 47 88 46 89 42 89 45 89 46 90 45 90 0 90 0 91 39 91 10 91 0 92 45 92 39 92 30 93 46 93 0 93 31 94 30 94 0 94 57 95 12 95 48 95 56 96 57 96 53 96 57 97 48 97 53 97 55 98 54 98 50 98 49 99 55 99 50 99 54 100 51 100 50 100 52 101 49 101 50 101 51 102 54 102 56 102 48 103 12 103 52 103 53 104 48 104 52 104 50 105 51 105 52 105 52 106 51 106 53 106 51 107 56 107 53 107 12 108 49 108 52 108 54 109 43 109 56 109 57 110 4 110 12 110 26 111 57 111 56 111

+ + + + + + + + + + + + + + + + + + + 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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-0.00786011 0.00620097 0.99995 0.0452234 -0.0487233 0.997788 -0.0494308 -0.973294 -0.224178 0.014236 -0.970477 0.240772 0.0436046 -0.955273 0.292492 0.0091941 -0.523658 0.851879 -0.0113247 -0.560868 0.827828 0.0374544 -0.0233616 0.999025 0.0750269 -0.761722 -0.643545 -0.0422036 -0.519597 -0.853368 -0.212678 -0.49618 -0.841768 -0.200345 0.108372 0.973713 -0.170019 -0.501381 0.848358 -0.0187454 0.66427 -0.747258 + + + + + + + + + + + + + + +

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

+ + + + + + + + + + + + + + + + + + + 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