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Migrate to UR robots #39

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f29febd
Migrate to UR robots
luca-della-vedova Oct 17, 2024
9f85925
Remove UR from source now that new jazzy is out
luca-della-vedova Nov 22, 2024
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3 changes: 0 additions & 3 deletions .github/workflows/nexus_integration_tests.yaml
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Expand Up @@ -24,9 +24,6 @@ jobs:
with:
path: ~/.cache/ccache
key: ccache
- name: vcs
run: |
vcs import . < abb.repos
- name: rosdep
run: |
apt update
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21 changes: 0 additions & 21 deletions abb.repos
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78 changes: 0 additions & 78 deletions nexus_integration_tests/config/abb_irb1300_controllers.yaml
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58 changes: 0 additions & 58 deletions nexus_integration_tests/config/abb_irb1300_planner_params.yaml
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79 changes: 0 additions & 79 deletions nexus_integration_tests/config/abb_irb910sc_controllers.yaml
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43 changes: 0 additions & 43 deletions nexus_integration_tests/config/abb_irb910sc_planner_params.yaml
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8 changes: 4 additions & 4 deletions nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml
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Expand Up @@ -5,23 +5,23 @@
<dispense_item.DispenseItem name="dispense_item" item="productA" />

<ApplyTransform base_pose="pickup_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
<plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb910sc" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
<plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" cartesian="true" result="{pickup_top_traj}" />
<GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
<execute_trajectory.ExecuteTrajectory name="execute_pickup_top" trajectory="{pickup_top_traj}" />

<plan_motion.PlanMotion name="plan_to_pickup" robot_name="abb_irb910sc" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
<plan_motion.PlanMotion name="plan_to_pickup" robot_name="ur5e" goal="pickup_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
<GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
<execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
<gripper.GripperControl name="pickup_product" gripper="workcell_1_mock_gripper" position="0.0" max_effort="1.0" />

<plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb910sc" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
<plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
<GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />

<WaitForSignal name="wait_for_pallet" signal="transporter_done" clear="true"/>
<execute_trajectory.ExecuteTrajectory name="execute_dropoff" trajectory="{dropoff_traj}" />
<gripper.GripperControl name="dropoff_product" gripper="workcell_1_mock_gripper" position="1.0" max_effort="0.0" />

<plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb910sc" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
<plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{home_traj}" />
<execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />


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10 changes: 5 additions & 5 deletions nexus_integration_tests/config/workcell_2_bts/pick_from_conveyor.xml
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Expand Up @@ -9,25 +9,25 @@
<detection.GetDetectionPose detection="{current_product_detection}" result="{current_product_pose}" />

<ApplyTransform base_pose="{current_product_pose}" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" local="true" result="{pickup_top_goal}" />
<plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="abb_irb1300" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
<plan_motion.PlanMotion name="plan_to_pickup_top" robot_name="ur5e" goal="{pickup_top_goal}" scale_speed="0.5" result="{pickup_top_traj}" />
<GetJointConstraints trajectory="{pickup_top_traj}" joint_constraints="{joint_constraints}" />
<execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_top_traj}" />

<plan_motion.PlanMotion name="plan_to_product" robot_name="abb_irb1300" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
<plan_motion.PlanMotion name="plan_to_product" robot_name="ur5e" goal="{current_product_pose}" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{pickup_traj}" />
<GetJointConstraints trajectory="{pickup_traj}" joint_constraints="{joint_constraints}" />
<execute_trajectory.ExecuteTrajectory name="execute_pickup" trajectory="{pickup_traj}" />
<gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="0.0" max_effort="1.0" />

<ApplyTransform base_pose="dropoff_pose" x="0" y="0" z="-0.02" qx="0" qy="0" qz="0" qw="1" result="{dropoff_top_goal}" />
<plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="abb_irb1300" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
<plan_motion.PlanMotion name="plan_to_dropoff_top" robot_name="ur5e" goal="{dropoff_top_goal}" scale_speed="0.5" result="{dropoff_top_traj}" />
<GetJointConstraints trajectory="{dropoff_top_traj}" joint_constraints="{joint_constraints}" />
<execute_trajectory.ExecuteTrajectory name="execute_dropoff_top" trajectory="{dropoff_top_traj}" />

<plan_motion.PlanMotion name="plan_to_dropoff" robot_name="abb_irb1300" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
<plan_motion.PlanMotion name="plan_to_dropoff" robot_name="ur5e" goal="dropoff_pose" scale_speed="0.5" cartesian="true" start_constraints="{joint_constraints}" result="{dropoff_traj}" />
<GetJointConstraints trajectory="{dropoff_traj}" joint_constraints="{joint_constraints}" />
<gripper.GripperControl name="pickup_product" gripper="workcell_2_mock_gripper" position="1.0" max_effort="0.0" />

<plan_motion.PlanMotion name="plan_to_home" robot_name="abb_irb1300" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
<plan_motion.PlanMotion name="plan_to_home" robot_name="ur5e" goal="home" scale_speed="0.5" start_constraints="{joint_constraints}" result="{home_traj}" />
<execute_trajectory.ExecuteTrajectory name="execute_home" trajectory="{home_traj}" />
</Sequence>
</BehaviorTree>
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