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make imarker work in multi_arm_sim, for just the first arm #287

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make imarker work in multi_arm_sim, for just the first arm #287

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4 changes: 4 additions & 0 deletions src/moveit_pro_ur_configs/multi_arm_sim/config/moveit/multi_arm_ur.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
<group name="fourth_manipulator"/>
</group>
<group name="gripper">
<link name="first_grasp_link"/>
<joint name="first_robotiq_85_left_finger_tip_joint"/>
<joint name="first_robotiq_85_left_inner_knuckle_joint"/>
<joint name="first_robotiq_85_left_knuckle_joint"/>
Expand All @@ -36,6 +37,7 @@
<joint name="first_robotiq_85_right_knuckle_joint"/>
</group>
<group name="second_gripper">
<link name="second_grasp_link"/>
<joint name="second_robotiq_85_left_finger_tip_joint"/>
<joint name="second_robotiq_85_left_inner_knuckle_joint"/>
<joint name="second_robotiq_85_left_knuckle_joint"/>
Expand All @@ -44,6 +46,7 @@
<joint name="second_robotiq_85_right_knuckle_joint"/>
</group>
<group name="third_gripper">
<link name="third_grasp_link"/>
<joint name="third_robotiq_85_left_finger_tip_joint"/>
<joint name="third_robotiq_85_left_inner_knuckle_joint"/>
<joint name="third_robotiq_85_left_knuckle_joint"/>
Expand All @@ -52,6 +55,7 @@
<joint name="third_robotiq_85_right_knuckle_joint"/>
</group>
<group name="fourth_gripper">
<link name="fourth_grasp_link"/>
<joint name="fourth_robotiq_85_left_finger_tip_joint"/>
<joint name="fourth_robotiq_85_left_inner_knuckle_joint"/>
<joint name="fourth_robotiq_85_left_knuckle_joint"/>
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47 changes: 47 additions & 0 deletions src/moveit_pro_ur_configs/multi_arm_sim/objectives/move_to_pose.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,47 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Move to Pose">
<BehaviorTree
ID="Move to Pose"
_description="Plan and execute motion to a Cartesian coordinate pose in a ROS message type, using inverse kinematics."
>
<Control ID="Sequence">
<Action
ID="InitializeMTCTask"
task_id="move_to_pose"
controller_names="{controller_names}"
task="{move_to_pose_task}"
/>
<Action ID="SetupMTCCurrentState" task="{move_to_pose_task}" />
<Action
ID="SetupMTCPlanToPose"
ik_frame="first_grasp_link"
planning_group_name="first_manipulator"
target_pose="{target_pose}"
task="{move_to_pose_task}"
/>
<Action
ID="PlanMTCTask"
solution="{move_to_pose_solution}"
task="{move_to_pose_task}"
/>
<SubTree
ID="Wait for Trajectory Approval if User Available"
solution="{move_to_pose_solution}"
/>
<Action ID="ExecuteMTCTask" solution="{move_to_pose_solution}" />
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Move to Pose">
<input_port name="target_pose" default="{target_pose}" />
<input_port
name="controller_names"
default="/joint_trajectory_controller"
/>
<MetadataFields>
<Metadata subcategory="Motion - Execute" />
<Metadata runnable="false" />
</MetadataFields>
</SubTree>
</TreeNodesModel>
</root>