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[moveit config] (INCOMPLETE) Update botharms group to not depend on existing groups #222

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[moveit config] (INCOMPLETE) Update botharms group to not depend on existing groups #222

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15 changes: 12 additions & 3 deletions nextage_moveit_config/config/NextageOpen.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,18 @@
<joint name="LARM_JOINT5" />
</group>
<group name="botharms">
<group name="right_arm" />
<group name="left_arm" />
<group name="torso" />
<joint name="LARM_JOINT0" />
<joint name="LARM_JOINT1" />
<joint name="LARM_JOINT2" />
<joint name="LARM_JOINT3" />
<joint name="LARM_JOINT4" />
<joint name="LARM_JOINT5" />
<joint name="RARM_JOINT0" />
<joint name="RARM_JOINT1" />
<joint name="RARM_JOINT2" />
<joint name="RARM_JOINT3" />
<joint name="RARM_JOINT4" />
<joint name="RARM_JOINT5" />
</group>
<group name="head">
<joint name="HEAD_JOINT0" />
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16 changes: 16 additions & 0 deletions nextage_moveit_config/config/controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,22 @@ controller_list:
- LARM_JOINT3
- LARM_JOINT4
- LARM_JOINT5
- name: botharms_controller
action_ns: follow_joint_trajectory_action
default: true
joints:
- LARM_JOINT0
- LARM_JOINT1
- LARM_JOINT2
- LARM_JOINT3
- LARM_JOINT4
- LARM_JOINT5
- RARM_JOINT0
- RARM_JOINT1
- RARM_JOINT2
- RARM_JOINT3
- RARM_JOINT4
- RARM_JOINT5
- name: head_controller
action_ns: follow_joint_trajectory_action
joints:
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5 changes: 5 additions & 0 deletions nextage_moveit_config/config/kinematics_ikfast.yaml
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Expand Up @@ -8,6 +8,11 @@ left_arm:
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
botharms:
kinematics_solver: nextage_right_arm_kinematics/IKFastKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
head:
kinematics_solver: nextage_right_arm_kinematics/IKFastKinematicsPlugin
kinematics_solver_search_resolution: 0.005
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5 changes: 5 additions & 0 deletions nextage_moveit_config/config/kinematics_kdl.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,11 @@ left_arm:
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
botharms:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
head:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
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2 changes: 1 addition & 1 deletion nextage_moveit_config/config/ompl_planning.yaml
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Expand Up @@ -64,7 +64,7 @@ botharms:
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(LARM_JOINT0,LARM_JOINT1)
projection_evaluator: joints(LARM_JOINT0,RARM_JOINT0)
longest_valid_segment_fraction: 0.05
head:
planner_configs:
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