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feat(pro630-force-gripper-moveit): Add the Pro630 force gripper MoveIt package to version 1.0.0.

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wangWking 2026-04-14 18:01:03 +08:00
parent fe977d9fa1
commit 96572cde7f
45 changed files with 2259 additions and 1 deletions
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2
README.md
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@ -264,7 +264,7 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
![myarm](./demo_img/myarm300/myarm300.png)
[mycobot pro 630](./mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf)
[mycobot pro 630](./mycobot_description/urdf/mycobot_pro_630/pro630.urdf)
![pro630](./demo_img/pro630/pro630.png)

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mycobot_pro/pro630_moveit_force_gripper/.setup_assistant Normal file
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moveit_setup_assistant_config:
URDF:
package: mycobot_description
relative_path: urdf/mycobot_pro_630/pro630_force_gripper.urdf
xacro_args: ""
SRDF:
relative_path: config/Pro630_force_gripper.srdf
CONFIG:
author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com
generated_timestamp: 1776135707

10
mycobot_pro/pro630_moveit_force_gripper/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.1.3)
project(pro630_moveit_force_gripper)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

128
mycobot_pro/pro630_moveit_force_gripper/config/Pro630_force_gripper.srdf Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="Pro630_force_gripper">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<chain base_link="base_link" tip_link="J6_Link"/>
</group>
<group name="gripper_group">
<chain base_link="gripper_base" tip_link="gripper_left3"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="arm_init_pose" group="arm_group">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state name="open_gripper" group="gripper_group">
<joint name="force_gripper_controller" value="1"/>
</group_state>
<group_state name="close_gripper" group="gripper_group">
<joint name="force_gripper_controller" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="force_gripper" parent_link="J6_Link" group="gripper_group" parent_group="arm_group"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="dummy_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="J1_Link" link2="J2_Link" reason="Adjacent"/>
<disable_collisions link1="J1_Link" link2="base_link" reason="Adjacent"/>
<disable_collisions link1="J1_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J1_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="J2_Link" link2="J3_Link" reason="Adjacent"/>
<disable_collisions link1="J2_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J2_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="J3_Link" link2="J4_Link" reason="Adjacent"/>
<disable_collisions link1="J3_Link" link2="J5_Link" reason="Never"/>
<disable_collisions link1="J3_Link" link2="J6_Link" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_connection" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J3_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="J4_Link" link2="J5_Link" reason="Adjacent"/>
<disable_collisions link1="J4_Link" link2="J6_Link" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_connection" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J4_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="J5_Link" link2="J6_Link" reason="Adjacent"/>
<disable_collisions link1="J5_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_connection" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J5_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_connection" reason="Adjacent"/>
<disable_collisions link1="J6_Link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="J6_Link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_base" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="base_link" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_connection" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_connection" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_connection" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="gripper_connection" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="gripper_connection" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_connection" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="gripper_connection" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
</robot>

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mycobot_pro/pro630_moveit_force_gripper/config/cartesian_limits.yaml Normal file
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cartesian_limits:
max_trans_vel: 1
max_trans_acc: 2.25
max_trans_dec: -5
max_rot_vel: 1.57

18
mycobot_pro/pro630_moveit_force_gripper/config/chomp_planning.yaml Normal file
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@ -0,0 +1,18 @@
planning_time_limit: 10.0
max_iterations: 200
max_iterations_after_collision_free: 5
smoothness_cost_weight: 0.1
obstacle_cost_weight: 1.0
learning_rate: 0.01
smoothness_cost_velocity: 0.0
smoothness_cost_acceleration: 1.0
smoothness_cost_jerk: 0.0
ridge_factor: 0.0
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearance: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: false
max_recovery_attempts: 5

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mycobot_pro/pro630_moveit_force_gripper/config/fake_controllers.yaml Normal file
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@ -0,0 +1,19 @@
controller_list:
- name: fake_arm_group_controller
type: $(arg fake_execution_type)
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
- name: fake_gripper_arm_controller
type: $(arg fake_execution_type)
joints:
- force_gripper_controller
initial: # Define initial robot poses per group
- group: arm_group
pose: arm_init_pose
- group: gripper_arm
pose: open_gripper

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mycobot_pro/pro630_moveit_force_gripper/config/gazebo_Pro630_force_gripper.urdf Normal file
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<?xml version="1.0" encoding="utf-8" ?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="Pro630_force_gripper">
<link name="dummy_link" />
<joint name="dummy_joint" type="fixed">
<parent link="dummy_link" />
<child link="base_link" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="-0.0161344402434911 -0.000162162688512334 0.0554241228233497" rpy="0 0 0" />
<mass value="1.65795468093661" />
<inertia ixx="0.00386227635537876" ixy="-1.53515099093584E-05" ixz="-0.000405423117517011" iyy="0.00526479178618686" iyz="-5.2281892120838E-06" izz="0.00413846172645392" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="J1_Link">
<inertial>
<origin xyz="-6.91118799377376E-07 0.0144598782404965 0.0381086508027903" rpy="0 0 0" />
<mass value="1.567" />
<inertia ixx="0.001180925" ixy="-0.000000017" ixz="0.000000006" iyy="0.000802296" iyz="0.000062424" izz="0.001150167" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J1_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J1_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint1" type="revolute">
<origin xyz="0 0 0.1605" rpy="0 0 0" />
<parent link="base_link" />
<child link="J1_Link" />
<axis xyz="0 0 -1" />
<limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
</joint>
<link name="J2_Link">
<inertial>
<origin xyz="-2.29173833957163E-06 0.0341436588560188 0.134627373673515" rpy="0 0 0" />
<mass value="0.772" />
<inertia ixx="0.007356742" ixy="-0.000000105" ixz="-0.000000274" iyy="0.000007461" iyz="-0.000017541" izz="0.000574556" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J2_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J2_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<origin xyz="0 0.0605 0.0445" rpy="0 0 0" />
<parent link="J1_Link" />
<child link="J2_Link" />
<axis xyz="0 1 0" />
<limit lower="-0.7854" upper="3.927" effort="0" velocity="0" />
</joint>
<link name="J3_Link">
<inertial>
<origin xyz="1.03212652958277E-06 -0.0560093102940856 0.119151815348055" rpy="0 0 0" />
<mass value="2.385" />
<inertia ixx="0.031463813" ixy="0.000000397" ixz="-0.000002338" iyy="0.030919350" iyz="-0.001638362" izz="0.001683438" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J3_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J3_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint3" type="revolute">
<origin xyz="0 -0.00051 0.269" rpy="0 0 0" />
<parent link="J2_Link" />
<child link="J3_Link" />
<axis xyz="0 -1 0" />
<limit lower="-2.8798" upper="2.8798" effort="0" velocity="0" />
</joint>
<link name="J4_Link">
<inertial>
<origin xyz="4.20306334830404E-07 0.0325640723335469 0.0139416523721847" rpy="0 0 0" />
<mass value="0.562" />
<inertia ixx="0.000322651" ixy="0.000000001" ixz="0.000000001" iyy="0.000324290" iyz="0.000031124" izz="0.000204745" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J4_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J4_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint4" type="revolute">
<origin xyz="0 -0.0105 0.266" rpy="0 0 0" />
<parent link="J3_Link" />
<child link="J4_Link" />
<axis xyz="0 1 0" />
<limit lower="-1.5708" upper="4.7124" effort="0" velocity="0" />
</joint>
<link name="J5_Link">
<inertial>
<origin xyz="1.43488388864559E-07 0.00130029157612582 0.0359037893443566" rpy="0 0 0" />
<mass value="0.228" />
<inertia ixx="0.000345241" ixy="-0.000000008" ixz="-0.000000021" iyy="0.000230269" iyz="0.000014452" izz="0.000303872" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J5_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J5_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint5" type="revolute">
<origin xyz="0 0.0385 0.054" rpy="0 0 0" />
<parent link="J4_Link" />
<child link="J5_Link" />
<axis xyz="0 0 1" />
<limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
</joint>
<link name="J6_Link">
<inertial>
<origin xyz="-8.87276522571029E-11 -0.00452155127232517 -0.000193927466995647" rpy="0 0 0" />
<mass value="0.052" />
<inertia ixx="0.000015356" ixy="0.000000008" ixz="0.000000000" iyy="0.000029432" iyz="0.000000000" izz="0.000015070" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J6_Link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J6_Link.STL" />
</geometry>
</collision>
</link>
<joint name="joint6" type="revolute">
<origin xyz="0 -0.043 0.041" rpy="0 0 0" />
<parent link="J5_Link" />
<child link="J6_Link" />
<axis xyz="0 1 0" />
<limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
</joint>
<link name="gripper_connection">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/mygripper_f100_connection.dae" />
</geometry>
<origin xyz="-0.03 0.014 0 " rpy=" 0 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/mygripper_f100_connection.dae" />
</geometry>
<origin xyz="-0.03 0.014 0 " rpy=" 0 0 -1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae" />
</geometry>
<origin xyz="-0.107 0.012 0.0 " rpy=" 1.5708 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae" />
</geometry>
<origin xyz="-0.107 0.012 0.0 " rpy=" 1.5708 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left1">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae" />
</geometry>
<origin xyz="-0.047 -0.013 0.044 " rpy=" 1.5708 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae" />
</geometry>
<origin xyz="-0.047 -0.013 0.044 " rpy=" 1.5708 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae" />
</geometry>
<origin xyz="-0.0 0.03 0.004 " rpy=" 3.14159 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae" />
</geometry>
<origin xyz="-0.0 0.03 0.004 " rpy=" 3.14159 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_left3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae" />
</geometry>
<origin xyz="0 -0.03 0.012 " rpy=" 1.5708 3.14159 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae" />
</geometry>
<origin xyz="0 -0.03 0.012 " rpy=" 1.5708 3.14159 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae" />
</geometry>
<origin xyz="0.047 -0.013 -0.046 " rpy=" 1.5708 3.14 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae" />
</geometry>
<origin xyz="0.047 -0.013 -0.046 " rpy=" 1.5708 3.14 -1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae" />
</geometry>
<origin xyz="0 0.03 -0.005 " rpy=" 0 0 1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae" />
</geometry>
<origin xyz="0 0.03 -0.005 " rpy=" 0 0 1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<link name="gripper_right3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae" />
</geometry>
<origin xyz="-0.014 -0.029 0.004 " rpy=" 3.14 0 -1.5708" />
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae" />
</geometry>
<origin xyz="-0.014 -0.029 0.004 " rpy=" 3.14 0 -1.5708" />
</collision>
<inertial>
<mass value="0.1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
</inertial>
</link>
<joint name="J6Link_gripper_connect" type="fixed">
<parent link="J6_Link" />
<child link="gripper_connection" />
<origin xyz="0.0 -0.014 -0.01" rpy="-1.5708 0 -3.14159" />
</joint>
<joint name="joint6_to_gripper_base" type="fixed">
<parent link="gripper_connection" />
<child link="gripper_base" />
<origin xyz="0 -0.02 0.0364" rpy="1.5708 0 0" />
</joint>
<joint name="force_gripper_controller" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="0" upper="1" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left3" />
<origin xyz="-0.018 0.016 -0.02" rpy="0 0 0" />
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_left2" />
<origin xyz="-0.0445 -0.004 -0.02" rpy="0 0 0" />
<mimic joint="force_gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_left3" />
<child link="gripper_left1" />
<origin xyz="0.01 0.06 0.0" rpy="0 0 0" />
<mimic joint="force_gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="1" upper="0" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right3" />
<origin xyz="0.018 0.015 -0.0212" rpy="0 0 0" />
<mimic joint="force_gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_base_to_gripper_right2" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
<parent link="gripper_base" />
<child link="gripper_right2" />
<origin xyz="0.0442 -0.004 -0.02" rpy="0 0 0" />
<mimic joint="force_gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<joint name="gripper_right3_to_gripper_right1" type="revolute">
<axis xyz="0 0 1" />
<limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
<parent link="gripper_right3" />
<child link="gripper_right1" />
<origin xyz="-0.01 0.061 0.001" rpy="0 0 0" />
<mimic joint="force_gripper_controller" multiplier="1.0" offset="0" />
</joint>
<transmission name="trans_joint1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_joint6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="joint6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_force_gripper_controller">
<type>transmission_interface/SimpleTransmission</type>
<joint name="force_gripper_controller">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="force_gripper_controller_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_left2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_left2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_left2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_left3_to_gripper_left1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_left3_to_gripper_left1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_left3_to_gripper_left1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_base_to_gripper_right2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_base_to_gripper_right2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_base_to_gripper_right2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_gripper_right3_to_gripper_right1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper_right3_to_gripper_right1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_right3_to_gripper_right1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>

4
mycobot_pro/pro630_moveit_force_gripper/config/gazebo_controllers.yaml Normal file
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# Publish joint_states
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

70
mycobot_pro/pro630_moveit_force_gripper/config/joint_limits.yaml Normal file
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
force_gripper_controller:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_base_to_gripper_left2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_base_to_gripper_right2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_base_to_gripper_right3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_left3_to_gripper_left1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_right3_to_gripper_right1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
joint6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

14
mycobot_pro/pro630_moveit_force_gripper/config/kinematics.yaml Normal file
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arm_group:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
goal_joint_tolerance: 0.0001
goal_position_tolerance: 0.0001
goal_orientation_tolerance: 0.001
gripper_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
goal_joint_tolerance: 0.0001
goal_position_tolerance: 0.0001
goal_orientation_tolerance: 0.001

228
mycobot_pro/pro630_moveit_force_gripper/config/ompl_planning.yaml Normal file
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planner_configs:
AnytimePathShortening:
type: geometric::AnytimePathShortening
shortcut: true # Attempt to shortcut all new solution paths
hybridize: true # Compute hybrid solution trajectories
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
num_planners: 4 # The number of default planners to use for planning
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frontier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frontier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
AITstar:
type: geometric::AITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
ABITstar:
type: geometric::ABITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
BITstar:
type: geometric::BITstar
use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100
use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1
prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0
use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0
arm_group:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
- AITstar
- ABITstar
- BITstar
projection_evaluator: joints(joint1,joint2)
longest_valid_segment_fraction: 0.005
gripper_arm:
default_planner_config: RRTConnect
planner_configs:
- AnytimePathShortening
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
- AITstar
- ABITstar
- BITstar

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arm_group_controller:
type: effort_controllers/JointTrajectoryController
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
gains:
joint1:
p: 100
d: 1
i: 1
i_clamp: 1
joint2:
p: 100
d: 1
i: 1
i_clamp: 1
joint3:
p: 100
d: 1
i: 1
i_clamp: 1
joint4:
p: 100
d: 1
i: 1
i_clamp: 1
joint5:
p: 100
d: 1
i: 1
i_clamp: 1
joint6:
p: 100
d: 1
i: 1
i_clamp: 1
gripper_arm_controller:
type: effort_controllers/JointTrajectoryController
joints:
- force_gripper_controller
gains:
force_gripper_controller:
p: 100
d: 1
i: 1
i_clamp: 1

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sensors:
[]

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controller_list:
- name: arm_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
- name: gripper_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- force_gripper_controller

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stomp/arm_group:
group_name: arm_group
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized
stomp/gripper_arm:
group_name: gripper_arm
optimization:
num_timesteps: 60
num_iterations: 40
num_iterations_after_valid: 0
num_rollouts: 30
max_rollouts: 30
initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
control_cost_weight: 0.0
task:
noise_generator:
- class: stomp_moveit/NormalDistributionSampling
stddev: [0.05]
cost_functions:
- class: stomp_moveit/CollisionCheck
collision_penalty: 1.0
cost_weight: 1.0
kernel_window_percentage: 0.2
longest_valid_joint_move: 0.05
noisy_filters:
- class: stomp_moveit/JointLimits
lock_start: True
lock_goal: True
- class: stomp_moveit/MultiTrajectoryVisualization
line_width: 0.02
rgb: [255, 255, 0]
marker_array_topic: stomp_trajectories
marker_namespace: noisy
update_filters:
- class: stomp_moveit/PolynomialSmoother
poly_order: 6
- class: stomp_moveit/TrajectoryVisualization
line_width: 0.05
rgb: [0, 191, 255]
error_rgb: [255, 0, 0]
publish_intermediate: True
marker_topic: stomp_trajectory
marker_namespace: optimized

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mycobot_pro/pro630_moveit_force_gripper/launch/Pro630_force_gripper_moveit_sensor_manager.launch.xml Normal file
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<launch>
</launch>

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<launch>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/chomp_planning.yaml" />
</launch>

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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find pro630_moveit_force_gripper)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

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<launch>
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find pro630_moveit_force_gripper)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world dummy_link" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="pipeline" value="$(arg pipeline)"/>
<arg name="load_robot_description" value="$(arg load_robot_description)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

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<?xml version="1.0"?>
<launch>
<!-- MoveIt options -->
<arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
<!-- Gazebo options -->
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<!-- Launch Gazebo and spawn the robot -->
<include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
<!-- Launch MoveIt -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
<arg name="load_robot_description" value="false" />
<arg name="moveit_controller_manager" value="ros_control" />
</include>
</launch>

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<launch>
<!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam subst_value="true" file="$(find pro630_moveit_force_gripper)/config/fake_controllers.yaml"/>
</launch>

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<?xml version="1.0"?>
<launch>
<!-- Gazebo options -->
<arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
<arg name="paused" default="false" doc="Start Gazebo paused"/>
<arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
<arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
<arg name="initial_joint_positions" default=" -J force_gripper_controller 1 -J joint1 0 -J joint2 0 -J joint3 0 -J joint4 0 -J joint5 0 -J joint6 0" doc="Initial joint configuration of the robot"/>
<!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
<arg name="paused" value="true"/>
</include>
<!-- Set the robot urdf on the parameter server -->
<param name="robot_description" textfile="$(find pro630_moveit_force_gripper)/config/gazebo_Pro630_force_gripper.urdf" />
<!-- Unpause the simulation after loading the robot model -->
<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
<!-- Spawn the robot in Gazebo -->
<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
respawn="false" output="screen" />
<!-- Load the controller parameters onto the parameter server -->
<rosparam file="$(find pro630_moveit_force_gripper)/config/gazebo_controllers.yaml" />
<include file="$(dirname)/ros_controllers.launch"/>
<!-- Spawn the Gazebo ROS controllers -->
<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch>

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

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<launch>
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="pipeline" default="ompl" />
<arg name="allow_trajectory_execution" default="true"/>
<arg name="moveit_controller_manager" default="simple" />
<arg name="fake_execution_type" default="interpolate"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="publish_monitored_planning_scene" default="true"/>
<arg name="capabilities" default=""/>
<arg name="disable_capabilities" default=""/>
<!-- load these non-default MoveGroup capabilities (space seperated) -->
<!--
<arg name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities (space seperated) -->
<!--
<arg name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<arg name="load_robot_description" default="false" />
<!-- load URDF, SRDF and joint_limits configuration -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="$(arg load_robot_description)" />
</include>
<!-- Planning Pipelines -->
<group ns="move_group/planning_pipelines">
<!-- OMPL -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- CHOMP -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="chomp" />
</include>
<!-- Pilz Industrial Motion -->
<include file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="pilz_industrial_motion_planner" />
</include>
<!-- Support custom planning pipeline -->
<include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
file="$(dirname)/planning_pipeline.launch.xml">
<arg name="pipeline" value="$(arg pipeline)" />
</include>
</group>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
<arg name="fake_execution_type" value="$(arg fake_execution_type)" />
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="Pro630_force_gripper" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
default to false, because almost nothing in move_group relies on this information -->
<param name="monitor_dynamics" value="false" />
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/moveit.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.5
Tree Height: 242
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: true
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
J1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J6_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_connection:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.15000000596046448
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
J1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J5_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
J6_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_connection:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_left3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripper_right3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: dummy_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.75
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6199999451637268
Target Frame: dummy_link
Yaw: 5.899951457977295
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 905
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000001f30000032ffc0200000007fb000000100044006900730070006c006100790073010000003d00000183000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c6000001a60000017d00ffffff0000053d0000032f00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1846
X: 72
Y: 27

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

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mycobot_pro/pro630_moveit_force_gripper/launch/ompl-chomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find pro630_moveit_force_gripper)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/chomp_planning.yaml" />
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
<param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/ompl_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/ompl_planning.yaml"/>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml Normal file
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<launch>
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters" default="" />
<param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<!-- Define default planner (for all groups) -->
<param name="default_planner_config" value="PTP" />
<!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
<param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/planning_context.launch Normal file
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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/pro630_force_gripper.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find pro630_moveit_force_gripper)/config/Pro630_force_gripper.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/cartesian_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/kinematics.yaml"/>
</group>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/planning_pipeline.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/ros_control_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define MoveIt controller manager plugin -->
<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/ros_controllers.launch Normal file
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<?xml version="1.0"?>
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find pro630_moveit_force_gripper)/config/ros_controllers.yaml" command="load"/>
<!-- Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="arm_group_controller gripper_arm_controller "/>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/run_benchmark_ompl.launch Normal file
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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(dirname)/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(dirname)/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/ompl_planning.yaml"/>
</node>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/sensor_manager.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for 3D sensors config -->
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/sensors_3d.yaml" />
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="Pro630_force_gripper" />
<include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/setup_assistant.launch Normal file
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<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=pro630_moveit_force_gripper"
launch-prefix="$(arg launch_prefix)"
required="true"
output="screen" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/simple_moveit_controller_manager.launch.xml Normal file
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<launch>
<!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<!-- Load controller list to the parameter server -->
<rosparam file="$(find pro630_moveit_force_gripper)/config/simple_moveit_controllers.yaml" />
<rosparam file="$(find pro630_moveit_force_gripper)/config/ros_controllers.yaml" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/stomp_planning_pipeline.launch.xml Normal file
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<launch>
<!-- Stomp Plugin for MoveIt -->
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<arg name="start_state_max_bounds_error" value="0.1" />
<arg name="jiggle_fraction" value="0.05" />
<!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
<arg name="planning_adapters"
default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<rosparam command="load" file="$(find pro630_moveit_force_gripper)/config/stomp_planning.yaml"/>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/trajectory_execution.launch.xml Normal file
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<launch>
<!-- This file summarizes all settings required for trajectory execution -->
<!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" />
<arg name="fake_execution_type" default="interpolate" />
<!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
<include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/warehouse.launch Normal file
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<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(dirname)/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

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mycobot_pro/pro630_moveit_force_gripper/launch/warehouse_settings.launch.xml Normal file
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<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

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mycobot_pro/pro630_moveit_force_gripper/package.xml Normal file
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<package>
<name>pro630_moveit_force_gripper</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the Pro630_force_gripper with the MoveIt Motion Planning Framework
</description>
<author email="weijian.wang@elephantrobotics.com">wangweijian</author>
<maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>moveit_setup_assistant</run_depend>
<run_depend>moveit_simple_controller_manager</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>joint_state_publisher_gui</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>xacro</run_depend>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <run_depend>joint_trajectory_controller</run_depend> -->
<!-- <run_depend>gazebo_ros_control</run_depend> -->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<run_depend>mycobot_description</run_depend>
</package>

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mycobot_pro/pro630_moveit_force_gripper/scripts/__init__.py Normal file
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__version__ = "1.0.0"
def get_version():
"""Return current version of mycobot_pro_630 force gripper moveit Python module."""
return __version__

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mycobot_pro/pro630_moveit_force_gripper/scripts/force_gripper_sync_plan.py Executable file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import math
import sys
import threading
import rospy
from sensor_msgs.msg import JointState
from pymycobot.elephantrobot import ElephantRobot
mc = None
latest_arm = None
latest_gripper = None
lock = threading.Lock()
def callback(data):
"""Callback Function: Updates Data Only (No Control Logic!)"""
global latest_arm, latest_gripper
arm_list = []
gripper_value = 0
for index, value in enumerate(data.position):
if index < 6:
angle = round(math.degrees(value), 3)
arm_list.append(angle)
else:
mapped_value = value * 100
gripper_value = int(round(mapped_value, 2))
# Joint Compensation
if len(arm_list) > 1:
arm_list[1] = round(arm_list[1] - 90, 3)
if len(arm_list) > 3:
arm_list[3] = round(arm_list[3] - 90, 3)
with lock:
latest_arm = arm_list
latest_gripper = gripper_value
def control_loop():
"""Control Thread: Fixed-Frequency Transmission (Core)"""
global latest_arm, latest_gripper, mc
rate = rospy.Rate(20) # 20 HZ
last_gripper = None
while not rospy.is_shutdown():
arm = None
grip = None
# Retrieve Latest Data
with lock:
if latest_arm is not None:
arm = latest_arm.copy()
grip = latest_gripper
# robot control
if arm is not None:
try:
# Reduce speed to prevent accumulation.
# mc.write_angles(arm, 800)
pass
except Exception as e:
print("Arm control error:", e)
# Gripper Control (Sent only when changed)
if grip is not None and grip != last_gripper:
try:
# mc.force_set_angle(14, grip)
# last_gripper = grip
pass
except Exception as e:
print("Gripper control error:", e)
rate.sleep()
def listener():
global mc
rospy.init_node("control_slider", anonymous=True)
ip = rospy.get_param("~ip", "192.168.1.191")
port = rospy.get_param("~port", 5001)
print("Connecting to robot:", ip, port)
# init robot
# mc = ElephantRobot(ip, int(port))
# if not mc.start_client():
# print("Failed to connect robot")
# sys.exit(1)
# mc.set_speed(90)
# subscriber joint_states
rospy.Subscriber("joint_states", JointState, callback)
# start control thread
thread = threading.Thread(target=control_loop)
thread.daemon = True
thread.start()
print("Control loop started...")
rospy.spin()
if __name__ == "__main__":
listener()