From 57ee716f54628531ea057f9a79d9a01c8c48e3da Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 21 Oct 2014 12:16:26 +0000
Subject: [PATCH] re-run moveit_setup_assistant with new collision meshes
---
ur10_moveit_config/.setup_assistant | 2 +-
ur10_moveit_config/config/fake_controllers.yaml | 5 ++++-
ur10_moveit_config/config/ompl_planning.yaml | 15 ++++++++++++++-
ur10_moveit_config/config/ur10.srdf | 11 ++++++-----
4 files changed, 25 insertions(+), 8 deletions(-)
diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
index 026a76b..9129e62 100644
--- a/ur10_moveit_config/.setup_assistant
+++ b/ur10_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur10.srdf
CONFIG:
- generated_timestamp: 1409148189
\ No newline at end of file
+ generated_timestamp: 1413893323
\ No newline at end of file
diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml
index a7300cf..5e24f94 100644
--- a/ur10_moveit_config/config/fake_controllers.yaml
+++ b/ur10_moveit_config/config/fake_controllers.yaml
@@ -6,4 +6,7 @@ controller_list:
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- - wrist_3_joint
\ No newline at end of file
+ - wrist_3_joint
+ - name: fake_endeffector_controller
+ joints:
+ []
\ No newline at end of file
diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml
index d866c6a..6d2133f 100644
--- a/ur10_moveit_config/config/ompl_planning.yaml
+++ b/ur10_moveit_config/config/ompl_planning.yaml
@@ -35,4 +35,17 @@ manipulator:
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
\ No newline at end of file
+ longest_valid_segment_fraction: 0.05
+endeffector:
+ planner_configs:
+ - SBLkConfigDefault
+ - ESTkConfigDefault
+ - LBKPIECEkConfigDefault
+ - BKPIECEkConfigDefault
+ - KPIECEkConfigDefault
+ - RRTkConfigDefault
+ - RRTConnectkConfigDefault
+ - RRTstarkConfigDefault
+ - TRRTkConfigDefault
+ - PRMkConfigDefault
+ - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf
index d943a92..dc3b1b8 100644
--- a/ur10_moveit_config/config/ur10.srdf
+++ b/ur10_moveit_config/config/ur10.srdf
@@ -37,16 +37,17 @@
<!--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="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--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="base_link" link2="forearm_link" reason="Never" />
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
- <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
- <disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
--
GitLab