Commit 2d746ccf authored by Jayant Khatkar's avatar Jayant Khatkar

remove moveit package for both arms since it is not used (#5)

parent 3f0911aa
moveit_setup_assistant_config:
URDF:
package: twins_utils
relative_path: urdf/twins.xacro
xacro_args: ""
SRDF:
relative_path: config/twins.srdf
CONFIG:
author_name: Jayant Khatkar
author_email: none@none.none
generated_timestamp: 1611067421
\ No newline at end of file
cmake_minimum_required(VERSION 3.1.3)
project(twins_moveit_config)
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})
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: 0.01
use_pseudo_inverse: false
pseudo_inverse_ridge_factor: 1e-4
joint_update_limit: 0.1
collision_clearence: 0.2
collision_threshold: 0.07
use_stochastic_descent: true
enable_failure_recovery: true
max_recovery_attempts: 5
\ No newline at end of file
controller_list:
- name: r1/scaled_pos_traj_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- robot1_shoulder_pan_joint
- robot1_shoulder_lift_joint
- robot1_elbow_joint
- robot1_wrist_1_joint
- robot1_wrist_2_joint
- robot1_wrist_3_joint
- name: r2/scaled_pos_traj_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- robot2_shoulder_pan_joint
- robot2_shoulder_lift_joint
- robot2_elbow_joint
- robot2_wrist_1_joint
- robot2_wrist_2_joint
- robot2_wrist_3_joint
controller_list:
- name: fake_r1_controller
joints:
- robot1_shoulder_pan_joint
- robot1_shoulder_lift_joint
- robot1_elbow_joint
- robot1_wrist_1_joint
- robot1_wrist_2_joint
- robot1_wrist_3_joint
- name: fake_r2_controller
joints:
- robot2_shoulder_pan_joint
- robot2_shoulder_lift_joint
- robot2_elbow_joint
- robot2_wrist_1_joint
- robot2_wrist_2_joint
- robot2_wrist_3_joint
initial: # Define initial robot poses.
- group: r1
pose: home
- group: r2
pose: home
\ No newline at end of file
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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:
robot1_elbow_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot1_shoulder_lift_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot1_shoulder_pan_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot1_wrist_1_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
robot1_wrist_2_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
robot1_wrist_3_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
robot2_elbow_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot2_shoulder_lift_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot2_shoulder_pan_joint:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 0
robot2_wrist_1_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
robot2_wrist_2_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
robot2_wrist_3_joint:
has_velocity_limits: true
max_velocity: 6.28
has_acceleration_limits: false
max_acceleration: 0
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r1:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
r2:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
\ No newline at end of file
planner_configs:
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
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 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
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_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
r1:
default_planner_config: RRTConnect
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
r2:
default_planner_config: RRTConnect
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo
# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: r1
joint_model_group_pose: home
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- robot1_shoulder_pan_joint
- robot1_shoulder_lift_joint
- robot1_elbow_joint
- robot1_wrist_1_joint
- robot1_wrist_2_joint
- robot1_wrist_3_joint
- robot2_shoulder_pan_joint
- robot2_shoulder_lift_joint
- robot2_elbow_joint
- robot2_wrist_1_joint
- robot2_wrist_2_joint
- robot2_wrist_3_joint
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
[]
\ No newline at end of file
# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
- {}
\ No newline at end of file
<?xml version="1.0" ?>
<!--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="twins">
<!--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="r1">
<chain base_link="robot1_base_link" tip_link="robot1_ee_link" />
</group>
<group name="r2">
<chain base_link="robot2_base_link" tip_link="robot2_ee_link" />
</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="home" group="r1">
<joint name="robot1_elbow_joint" value="0.785398" />
<joint name="robot1_shoulder_lift_joint" value="-1.5708" />
<joint name="robot1_shoulder_pan_joint" value="-1.5708" />
<joint name="robot1_wrist_1_joint" value="-0.785398" />
<joint name="robot1_wrist_2_joint" value="-1.5707" />
<joint name="robot1_wrist_3_joint" value="-0.785398" />
</group_state>
<group_state name="home" group="r2">
<joint name="robot2_elbow_joint" value="0.785398" />
<joint name="robot2_shoulder_lift_joint" value="-1.5708" />
<joint name="robot2_shoulder_pan_joint" value="-1.5708" />
<joint name="robot2_wrist_1_joint" value="-0.785398" />
<joint name="robot2_wrist_2_joint" value="-1.5707" />
<joint name="robot2_wrist_3_joint" value="-0.785398" />
</group_state>
<!--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="robot1_base_link" link2="robot1_shoulder_link" reason="Adjacent" />
<disable_collisions link1="robot1_base_link" link2="robot2_base_link" reason="Adjacent" />
<disable_collisions link1="robot1_base_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_base_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot1_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot1_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot1_wrist_3_link" reason="Adjacent" />
<disable_collisions link1="robot1_ee_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_ee_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot1_upper_arm_link" reason="Adjacent" />
<disable_collisions link1="robot1_forearm_link" link2="robot1_wrist_1_link" reason="Adjacent" />
<disable_collisions link1="robot1_forearm_link" link2="robot1_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_forearm_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot1_upper_arm_link" reason="Adjacent" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_shoulder_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_upper_arm_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot1_wrist_2_link" reason="Adjacent" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot1_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_wrist_1_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot1_wrist_3_link" reason="Adjacent" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_wrist_2_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_base_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_ee_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_forearm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_shoulder_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_upper_arm_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot1_wrist_3_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot2_base_link" link2="robot2_shoulder_link" reason="Adjacent" />
<disable_collisions link1="robot2_ee_link" link2="robot2_wrist_1_link" reason="Never" />
<disable_collisions link1="robot2_ee_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot2_ee_link" link2="robot2_wrist_3_link" reason="Adjacent" />
<disable_collisions link1="robot2_forearm_link" link2="robot2_upper_arm_link" reason="Adjacent" />
<disable_collisions link1="robot2_forearm_link" link2="robot2_wrist_1_link" reason="Adjacent" />
<disable_collisions link1="robot2_forearm_link" link2="robot2_wrist_2_link" reason="Never" />
<disable_collisions link1="robot2_shoulder_link" link2="robot2_upper_arm_link" reason="Adjacent" />
<disable_collisions link1="robot2_wrist_1_link" link2="robot2_wrist_2_link" reason="Adjacent" />
<disable_collisions link1="robot2_wrist_1_link" link2="robot2_wrist_3_link" reason="Never" />
<disable_collisions link1="robot2_wrist_2_link" link2="robot2_wrist_3_link" reason="Adjacent" />
</robot>
<launch>
<!-- CHOMP Plugin for MoveIt! -->
<arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
<arg name="start_state_max_bounds_error" value="0.1" />
<!-- The request adapters (plugins) used when planning.
ORDER MATTERS -->
<arg name="planning_adapters"
value="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)" />
<rosparam command="load" file="$(find twins_moveit_config)/config/chomp_planning.yaml" />
</launch>
<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find twins_moveit_config)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find twins_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(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>
<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="$(find twins_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<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 -->