From c57d03f5922a31c38f6cf0d6ac90b727683fd7af Mon Sep 17 00:00:00 2001 From: bondada-a Date: Mon, 9 Mar 2026 10:05:29 -0400 Subject: [PATCH] Update Zivid camera mount and MoveIt configs with calibration data - Rewrite zivid_camera_mount.xacro with direct hand-eye calibration frame chain (tool0 -> zivid_optical_frame) instead of zivid_camera macro - Add hand_eye_calibration.yaml and zivid_onarm_mount.stl mesh - Fix initial_positions_file path in all 4 xacro files to reference correct MoveIt config package instead of ur_description - Fix camera mount rpy (pi rotation now in calibrated optical frame) - Enable acceleration limits in joint_limits.yaml (all 4 configs) - Set real robot joint positions in initial_positions.yaml - Add Pilz industrial motion planner config and pipeline - Update wrist_3_joint home to -pi in ur.srdf - Add goal_bias to OMPL config (epick, hande) - Set use_tool_communication=false for epick (launched separately) --- .../config/initial_positions.yaml | 17 ++- .../config/joint_limits.yaml | 24 ++--- .../config/ompl_planning.yaml | 1 + ...lz_industrial_motion_planner_planning.yaml | 10 ++ .../config/ur.srdf | 2 +- .../launch/robot_bringup.launch.py | 2 +- .../config/initial_positions.yaml | 19 ++-- .../config/joint_limits.yaml | 28 ++--- .../config/ompl_planning.yaml | 1 + ...lz_industrial_motion_planner_planning.yaml | 10 ++ .../config/ur.srdf | 2 +- .../launch/robot_bringup.launch.py | 4 +- .../config/initial_positions.yaml | 19 ++-- .../config/joint_limits.yaml | 32 +++--- .../config/ompl_planning.yaml | 1 + ...lz_industrial_motion_planner_planning.yaml | 10 ++ .../config/ur.srdf | 2 +- .../launch/robot_bringup.launch.py | 2 +- .../config/initial_positions.yaml | 18 ++-- .../config/joint_limits.yaml | 24 ++--- .../config/ompl_planning.yaml | 1 + ...lz_industrial_motion_planner_planning.yaml | 10 ++ .../config/ur.srdf | 2 +- .../launch/robot_bringup.launch.py | 2 +- .../config/hand_eye_calibration.yaml | 7 ++ .../meshes/zivid/zivid_onarm_mount.stl | Bin 0 -> 513984 bytes .../urdf/ur_standalone.xacro | 4 +- .../urdf/ur_with_zivid_epick.xacro | 4 +- .../urdf/ur_with_zivid_hande.xacro | 6 +- .../urdf/ur_with_zivid_pipettor.xacro | 4 +- .../urdf/zivid_camera_mount.xacro | 100 ++++++++++++++---- 31 files changed, 237 insertions(+), 131 deletions(-) create mode 100644 src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/pilz_industrial_motion_planner_planning.yaml create mode 100644 src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/pilz_industrial_motion_planner_planning.yaml create mode 100644 src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/pilz_industrial_motion_planner_planning.yaml create mode 100644 src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/pilz_industrial_motion_planner_planning.yaml create mode 100644 src/custom-ur-descriptions/ur5e_robot_description/config/hand_eye_calibration.yaml create mode 100644 src/custom-ur-descriptions/ur5e_robot_description/meshes/zivid/zivid_onarm_mount.stl diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/initial_positions.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/initial_positions.yaml index 44b3f2c59..8502235a9 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/initial_positions.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/initial_positions.yaml @@ -1,9 +1,8 @@ -# Default initial positions for ur's ros2_control fake system - -initial_positions: - elbow_joint: 0 - shoulder_lift_joint: 0 - shoulder_pan_joint: 0 - wrist_1_joint: 0 - wrist_2_joint: 0 - wrist_3_joint: 0 \ No newline at end of file +# Initial positions for fake hardware simulation +# Joint angles: [79.72, -69.5, -81.91, -117.92, -268.05, -157.15] degrees +shoulder_pan_joint: 1.3914 +shoulder_lift_joint: -1.2132 +elbow_joint: -1.4297 +wrist_1_joint: -2.0584 +wrist_2_joint: -4.6783 +wrist_3_joint: -2.7430 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/joint_limits.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/joint_limits.yaml index 130053c36..b4361bdf8 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/joint_limits.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_1_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_2_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_3_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ompl_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ompl_planning.yaml index 97ae75fbe..2247fc310 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ompl_planning.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ompl_planning.yaml @@ -5,6 +5,7 @@ planner_configs: RRTConnectkConfigDefault: type: geometric::RRTConnect range: 0.0 + goal_bias: 0.15 # Higher = more direct paths (default 0.05) # goal_tolerance: 0.01 # num_planning_attempts: 10 # planning_time: 10.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/pilz_industrial_motion_planner_planning.yaml new file mode 100644 index 000000000..6402ab930 --- /dev/null +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -0,0 +1,10 @@ +planning_plugin: pilz_industrial_motion_planner/CommandPlanner +request_adapters: >- + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +default_planner_config: PTP +capabilities: >- + pilz_industrial_motion_planner/MoveGroupSequenceAction + pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ur.srdf b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ur.srdf index 391dd098d..c22f4901a 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ur.srdf +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ur.srdf @@ -19,7 +19,7 @@ - + diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/launch/robot_bringup.launch.py b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/launch/robot_bringup.launch.py index 2e35fc559..a8095d2ee 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/launch/robot_bringup.launch.py +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/launch/robot_bringup.launch.py @@ -52,7 +52,7 @@ def generate_launch_description(): .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True ) - .planning_pipelines(pipelines=["ompl"]) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) # Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/initial_positions.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/initial_positions.yaml index ea0b51ddc..f9b769217 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/initial_positions.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/initial_positions.yaml @@ -1,10 +1,9 @@ -# Default initial positions for ur's ros2_control fake system - -initial_positions: - elbow_joint: 0 - gripper: 0 - shoulder_lift_joint: 0 - shoulder_pan_joint: 0 - wrist_1_joint: 0 - wrist_2_joint: 0 - wrist_3_joint: 0 \ No newline at end of file +# Initial positions for fake hardware simulation +# Joint angles: [79.72, -69.5, -81.91, -117.92, -268.05, -157.15] degrees +shoulder_pan_joint: 1.3914 +shoulder_lift_joint: -1.2132 +elbow_joint: -1.4297 +wrist_1_joint: -2.0584 +wrist_2_joint: -4.6783 +wrist_3_joint: -2.7430 +gripper: 0.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/joint_limits.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/joint_limits.yaml index 845ac0cea..200f9c0bf 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/joint_limits.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/joint_limits.yaml @@ -11,35 +11,35 @@ joint_limits: elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 gripper: has_velocity_limits: true max_velocity: 1.0 - has_acceleration_limits: false - max_acceleration: 0.0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_1_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_2_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_3_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ompl_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ompl_planning.yaml index 9b3a451dc..015543485 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ompl_planning.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ompl_planning.yaml @@ -5,6 +5,7 @@ planner_configs: RRTConnectkConfigDefault: type: geometric::RRTConnect range: 0.0 + goal_bias: 0.15 # Higher = more direct paths (default 0.05) RRTstar: type: geometric::RRTstar range: 1.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/pilz_industrial_motion_planner_planning.yaml new file mode 100644 index 000000000..6402ab930 --- /dev/null +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -0,0 +1,10 @@ +planning_plugin: pilz_industrial_motion_planner/CommandPlanner +request_adapters: >- + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +default_planner_config: PTP +capabilities: >- + pilz_industrial_motion_planner/MoveGroupSequenceAction + pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ur.srdf b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ur.srdf index bbbf9fc32..a20d267ce 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ur.srdf +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ur.srdf @@ -28,7 +28,7 @@ - + diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/launch/robot_bringup.launch.py b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/launch/robot_bringup.launch.py index e4ec514c5..9b50c72f3 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/launch/robot_bringup.launch.py +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/launch/robot_bringup.launch.py @@ -36,7 +36,7 @@ def generate_launch_description(): "description_file": LaunchConfiguration("description_file"), "controllers_file": LaunchConfiguration("controllers_file"), "kinematics_params_file": os.path.join(get_package_share_directory("ur5e_robot_description"), "config", "ur5e_calibration.yaml"), - "use_tool_communication": "true", # Enable to make tool_voltage parameter work + "use_tool_communication": "false", # We launch our own tool_communication node with delay "tool_voltage": "24", }.items() ) @@ -51,7 +51,7 @@ def generate_launch_description(): .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True ) - .planning_pipelines(pipelines=["ompl"]) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) # Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/initial_positions.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/initial_positions.yaml index dd2b3c101..c26956f04 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/initial_positions.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/initial_positions.yaml @@ -1,10 +1,9 @@ -# Default initial positions for ur's ros2_control fake system - -initial_positions: - elbow_joint: 0 - robotiq_hande_left_finger_joint: 0 - shoulder_lift_joint: 0 - shoulder_pan_joint: 0 - wrist_1_joint: 0 - wrist_2_joint: 0 - wrist_3_joint: 0 \ No newline at end of file +# Initial positions for fake hardware simulation +# Joint angles: [79.72, -69.5, -81.91, -117.92, -268.05, -157.15] degrees +shoulder_pan_joint: 1.3914 +shoulder_lift_joint: -1.2132 +elbow_joint: -1.4297 +wrist_1_joint: -2.0584 +wrist_2_joint: -4.6783 +wrist_3_joint: -2.7430 +robotiq_hande_left_finger_joint: 0.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/joint_limits.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/joint_limits.yaml index fe40adc07..79eb34696 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/joint_limits.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/joint_limits.yaml @@ -11,40 +11,40 @@ joint_limits: elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 robotiq_hande_left_finger_joint: has_velocity_limits: true max_velocity: 0.14999999999999999 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 robotiq_hande_right_finger_joint: has_velocity_limits: true max_velocity: 0.14999999999999999 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_1_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_2_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_3_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ompl_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ompl_planning.yaml index 9b3a451dc..015543485 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ompl_planning.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ompl_planning.yaml @@ -5,6 +5,7 @@ planner_configs: RRTConnectkConfigDefault: type: geometric::RRTConnect range: 0.0 + goal_bias: 0.15 # Higher = more direct paths (default 0.05) RRTstar: type: geometric::RRTstar range: 1.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/pilz_industrial_motion_planner_planning.yaml new file mode 100644 index 000000000..6402ab930 --- /dev/null +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -0,0 +1,10 @@ +planning_plugin: pilz_industrial_motion_planner/CommandPlanner +request_adapters: >- + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +default_planner_config: PTP +capabilities: >- + pilz_industrial_motion_planner/MoveGroupSequenceAction + pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ur.srdf b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ur.srdf index 61f7ff7af..9be18b138 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ur.srdf +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ur.srdf @@ -28,7 +28,7 @@ - + diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/launch/robot_bringup.launch.py b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/launch/robot_bringup.launch.py index 88f9f57af..78179d062 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/launch/robot_bringup.launch.py +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/launch/robot_bringup.launch.py @@ -57,7 +57,7 @@ def generate_launch_description(): .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True ) - .planning_pipelines(pipelines=["ompl"]) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) # Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/initial_positions.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/initial_positions.yaml index d8bbb6f66..8502235a9 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/initial_positions.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/initial_positions.yaml @@ -1,10 +1,8 @@ -# Default initial positions for ur's ros2_control fake system - -initial_positions: - elbow_joint: 0 - # Pipettor has no movable joints controlled by MoveIt - shoulder_lift_joint: 0 - shoulder_pan_joint: 0 - wrist_1_joint: 0 - wrist_2_joint: 0 - wrist_3_joint: 0 \ No newline at end of file +# Initial positions for fake hardware simulation +# Joint angles: [79.72, -69.5, -81.91, -117.92, -268.05, -157.15] degrees +shoulder_pan_joint: 1.3914 +shoulder_lift_joint: -1.2132 +elbow_joint: -1.4297 +wrist_1_joint: -2.0584 +wrist_2_joint: -4.6783 +wrist_3_joint: -2.7430 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/joint_limits.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/joint_limits.yaml index c4ef86a90..e94148912 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/joint_limits.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/joint_limits.yaml @@ -11,31 +11,31 @@ joint_limits: elbow_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 # Pipettor has no movable joints controlled by MoveIt shoulder_lift_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 shoulder_pan_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_1_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_2_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 wrist_3_joint: has_velocity_limits: true max_velocity: 3.1415926535897931 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + has_acceleration_limits: true + max_acceleration: 5.0 \ No newline at end of file diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ompl_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ompl_planning.yaml index 9b3a451dc..015543485 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ompl_planning.yaml +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ompl_planning.yaml @@ -5,6 +5,7 @@ planner_configs: RRTConnectkConfigDefault: type: geometric::RRTConnect range: 0.0 + goal_bias: 0.15 # Higher = more direct paths (default 0.05) RRTstar: type: geometric::RRTstar range: 1.0 diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/pilz_industrial_motion_planner_planning.yaml b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/pilz_industrial_motion_planner_planning.yaml new file mode 100644 index 000000000..6402ab930 --- /dev/null +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/pilz_industrial_motion_planner_planning.yaml @@ -0,0 +1,10 @@ +planning_plugin: pilz_industrial_motion_planner/CommandPlanner +request_adapters: >- + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +default_planner_config: PTP +capabilities: >- + pilz_industrial_motion_planner/MoveGroupSequenceAction + pilz_industrial_motion_planner/MoveGroupSequenceService diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ur.srdf b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ur.srdf index 20c972910..0b4d63121 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ur.srdf +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/ur.srdf @@ -24,7 +24,7 @@ - + diff --git a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/launch/robot_bringup.launch.py b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/launch/robot_bringup.launch.py index a35061bc6..41ee00c16 100644 --- a/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/launch/robot_bringup.launch.py +++ b/src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/launch/robot_bringup.launch.py @@ -52,7 +52,7 @@ def generate_launch_description(): .planning_scene_monitor( publish_robot_description=True, publish_robot_description_semantic=True ) - .planning_pipelines(pipelines=["ompl"]) + .planning_pipelines(pipelines=["ompl", "pilz_industrial_motion_planner"]) .to_moveit_configs() ) # Load ExecuteTaskSolutionCapability so we can execute found solutions in simulation diff --git a/src/custom-ur-descriptions/ur5e_robot_description/config/hand_eye_calibration.yaml b/src/custom-ur-descriptions/ur5e_robot_description/config/hand_eye_calibration.yaml new file mode 100644 index 000000000..967f7f877 --- /dev/null +++ b/src/custom-ur-descriptions/ur5e_robot_description/config/hand_eye_calibration.yaml @@ -0,0 +1,7 @@ +__version__: 1 +FloatMatrix: + Data: [ + [-0.9990297, -0.0061767, 0.0436062, 56.75], + [0.0064507, -0.9999603, 0.0061441, 103.22], + [0.0435665, 0.0064194, 0.9990299, 54.89], + [0, 0, 0, 1]] diff --git a/src/custom-ur-descriptions/ur5e_robot_description/meshes/zivid/zivid_onarm_mount.stl b/src/custom-ur-descriptions/ur5e_robot_description/meshes/zivid/zivid_onarm_mount.stl new file mode 100644 index 0000000000000000000000000000000000000000..6024a56066b466d517299890ad69845b2fd0e8ab GIT binary patch literal 513984 zcmb51cTg0~)`y#50uzb~h$5h1LQs&fVVWIOKm`=VKoAr~Fd$hl03w(b2`0=rN0hX? z(=aOLoO4FOtQZ0Lda-W3r~U7{Rkw=QKF|4`J{@MJyJyzTXQ+>_JS8QiiksdB@)|22_sho zV#5^`9JGRZY(0!RCks1Izg4|`HWLq7bdsy<7s0=AOcF19Tv3|5jNlipNfIHAP>axg z+)#_gT#UgCrXG-hbwcRwCmpPR-BTW>8-SrzivyUbyG`LoUz^Ef0iihsbzFIbO#WMc z9EQFiv9nPg`SUD{Z?`^yw#T5sQ}7uRTWR}ImjzgI%qErC+eh%*%HqV9+f#@c&0DjR 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b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_standalone.xacro @@ -57,7 +57,7 @@ - + @@ -112,7 +112,7 @@ diff --git a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_epick.xacro b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_epick.xacro index 920660079..353cd9762 100644 --- a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_epick.xacro +++ b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_epick.xacro @@ -61,7 +61,7 @@ - + @@ -114,7 +114,7 @@ diff --git a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_hande.xacro b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_hande.xacro index 138ea070d..b85a35b7e 100644 --- a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_hande.xacro +++ b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_hande.xacro @@ -61,7 +61,7 @@ - + @@ -113,8 +113,8 @@ diff --git a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_pipettor.xacro b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_pipettor.xacro index a0c60586f..bb54bc7bb 100644 --- a/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_pipettor.xacro +++ b/src/custom-ur-descriptions/ur5e_robot_description/urdf/ur_with_zivid_pipettor.xacro @@ -61,7 +61,7 @@ - + @@ -114,7 +114,7 @@ diff --git a/src/custom-ur-descriptions/ur5e_robot_description/urdf/zivid_camera_mount.xacro b/src/custom-ur-descriptions/ur5e_robot_description/urdf/zivid_camera_mount.xacro index 1f4c36058..f59ec932f 100644 --- a/src/custom-ur-descriptions/ur5e_robot_description/urdf/zivid_camera_mount.xacro +++ b/src/custom-ur-descriptions/ur5e_robot_description/urdf/zivid_camera_mount.xacro @@ -1,19 +1,60 @@ - - + - + + + + + + + + + + + + + + + + + + + + + + + + + - - + + @@ -22,8 +63,8 @@ - + @@ -35,26 +76,45 @@ - - - + + + + + + + + + + + + + + + + + + + + + + - - - - + + + + + + + - +