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Update Zivid camera mount and MoveIt configs with calibration data #80

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Merged
bondada-a merged 1 commit into from
Mar 10, 2026
Merged

Update Zivid camera mount and MoveIt configs with calibration data #80

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17 changes: 8 additions & 9 deletions ...escriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/initial_positions.yaml
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@@ -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
# 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
24 changes: 12 additions & 12 deletions ...-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/joint_limits.yaml
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Expand Up @@ -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
has_acceleration_limits: true
max_acceleration: 5.0
1 change: 1 addition & 0 deletions ...ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ompl_planning.yaml
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Expand Up @@ -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
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10 changes: 10 additions & 0 deletions ...t_configs/ur_standalone_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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@@ -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
2 changes: 1 addition & 1 deletion src/custom-ur-descriptions/ur5e_moveit_configs/ur_standalone_moveit_config/config/ur.srdf
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Expand Up @@ -19,7 +19,7 @@
<joint name="shoulder_pan_joint" value="0"/>
<joint name="wrist_1_joint" value="0"/>
<joint name="wrist_2_joint" value="0"/>
<joint name="wrist_3_joint" value="0"/>
<joint name="wrist_3_joint" value="-3.14159"/>
</group_state>
<!--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="map" child_link="map"/>
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2 changes: 1 addition & 1 deletion ...scriptions/ur5e_moveit_configs/ur_standalone_moveit_config/launch/robot_bringup.launch.py
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Expand Up @@ -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
Expand Down
19 changes: 9 additions & 10 deletions ...scriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/initial_positions.yaml
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@@ -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
# 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
28 changes: 14 additions & 14 deletions ...ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/joint_limits.yaml
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Expand Up @@ -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
has_acceleration_limits: true
max_acceleration: 5.0
1 change: 1 addition & 0 deletions ...r-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ompl_planning.yaml
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Expand Up @@ -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
Expand Down
10 changes: 10 additions & 0 deletions ..._configs/ur_zivid_epick_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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@@ -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
2 changes: 1 addition & 1 deletion src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/config/ur.srdf
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Expand Up @@ -28,7 +28,7 @@
<joint name="shoulder_pan_joint" value="0"/>
<joint name="wrist_1_joint" value="0"/>
<joint name="wrist_2_joint" value="0"/>
<joint name="wrist_3_joint" value="0"/>
<joint name="wrist_3_joint" value="-3.14159"/>
</group_state>
<group_state name="vacuum_on" group="epick_gripper">
<joint name="gripper" value="1"/>
Expand Down
4 changes: 2 additions & 2 deletions ...criptions/ur5e_moveit_configs/ur_zivid_epick_moveit_config/launch/robot_bringup.launch.py
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Expand Up @@ -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()
)
Expand All @@ -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
Expand Down
19 changes: 9 additions & 10 deletions ...scriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/initial_positions.yaml
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@@ -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
# 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
32 changes: 16 additions & 16 deletions ...ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/joint_limits.yaml
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Expand Up @@ -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
has_acceleration_limits: true
max_acceleration: 5.0
1 change: 1 addition & 0 deletions ...r-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ompl_planning.yaml
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Expand Up @@ -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
Expand Down
10 changes: 10 additions & 0 deletions ..._configs/ur_zivid_hande_moveit_config/config/pilz_industrial_motion_planner_planning.yaml
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@@ -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
2 changes: 1 addition & 1 deletion src/custom-ur-descriptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/config/ur.srdf
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Expand Up @@ -28,7 +28,7 @@
<joint name="shoulder_pan_joint" value="0"/>
<joint name="wrist_1_joint" value="0"/>
<joint name="wrist_2_joint" value="0"/>
<joint name="wrist_3_joint" value="0"/>
<joint name="wrist_3_joint" value="-3.14159"/>
</group_state>
<group_state name="hande_open" group="hande_gripper">
<joint name="robotiq_hande_left_finger_joint" value="0.025"/>
Expand Down
2 changes: 1 addition & 1 deletion ...criptions/ur5e_moveit_configs/ur_zivid_hande_moveit_config/launch/robot_bringup.launch.py
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Expand Up @@ -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
Expand Down
18 changes: 8 additions & 10 deletions ...iptions/ur5e_moveit_configs/ur_zivid_pipettor_moveit_config/config/initial_positions.yaml
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@@ -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
# 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
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