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Commit 98f227c8 authored by ipa-fxm's avatar ipa-fxm
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update moveit_configs using latest models and new kinematics plugin

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ur10_moveit_config/.setup_assistant
+ 1
− 1
View file @ 98f227c8
......@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur10.srdf
CONFIG:
generated_timestamp: 1404841877
generated_timestamp: 1409148189
\ No newline at end of file
ur10_moveit_config/config/kinematics.yaml
+ 5
− 0
View file @ 98f227c8
......@@ -3,3 +3,8 @@ manipulator:
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
#manipulator:
# kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
\ No newline at end of file
ur10_moveit_config/config/ur10.srdf
+ 6
− 3
View file @ 98f227c8
......@@ -35,15 +35,18 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="moveit_ee" parent_link="ee_link" group="endeffector" />
<!--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="base_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
<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="shoulder_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="upper_arm_link" link2="wrist_1_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" />
......
ur10_moveit_config/launch/moveit.rviz
+ 49
− 505
View file @ 98f227c8
......@@ -6,7 +6,7 @@ Panels:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.74256
Tree Height: 664
Tree Height: 291
- Class: rviz/Help
Name: Help
- Class: rviz/Views
......@@ -45,282 +45,50 @@ Visualization Manager:
Name: MotionPlanning
Planned Path:
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
world:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
......@@ -338,13 +106,14 @@ Visualization Manager:
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.08
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: left_arm
Planning Group: manipulator
Query Goal State: true
Query Start State: false
Show Workspace: false
......@@ -362,293 +131,63 @@ Visualization Manager:
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
world:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Scene Robot: true
Show Robot Collision: false
Show Robot Visual: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_link
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
......@@ -660,30 +199,35 @@ Visualization Manager:
Current:
Class: rviz/XYOrbit
Distance: 2.9965
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.113567
Y: 0.10592
Z: 2.23518e-07
X: 0.747697
Y: -0.20044
Z: 3.42727e-07
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.509797
Target Frame: /base_link
Pitch: 0.289797
Target Frame: world
Value: XYOrbit (rviz)
Yaw: 5.65995
Yaw: 5.44495
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1337
Height: 876
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000031cfc0200000005fb000000100044006900730070006c0061007900730100000036000001b4000000b700fffffffb0000000800480065006c00700000000342000000bb0000006500fffffffb0000000a0056006900650077007300000003b0000000b00000009b00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001f0000001620000015700ffffff000003570000031c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 459
Y: -243
Width: 1535
X: 65
Y: 24
ur5_moveit_config/.setup_assistant
+ 1
− 1
View file @ 98f227c8
......@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur5.srdf
CONFIG:
generated_timestamp: 1404842691
\ No newline at end of file
generated_timestamp: 1409142284
\ No newline at end of file
ur5_moveit_config/config/kinematics.yaml
+ 5
− 0
View file @ 98f227c8
......@@ -3,3 +3,8 @@ manipulator:
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
#manipulator:
# kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
\ No newline at end of file
ur5_moveit_config/config/ur5.srdf
+ 7
− 1
View file @ 98f227c8
......@@ -37,10 +37,16 @@
<!--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="shoulder_link" link2="ur_base_link" reason="Adjacent" />
<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="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="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" />
......
ur5_moveit_config/launch/moveit.rviz
+ 44
− 500
View file @ 98f227c8
......@@ -6,7 +6,7 @@ Panels:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.74256
Tree Height: 664
Tree Height: 291
- Class: rviz/Help
Name: Help
- Class: rviz/Views
......@@ -45,282 +45,50 @@ Visualization Manager:
Name: MotionPlanning
Planned Path:
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
world:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
......@@ -338,13 +106,14 @@ Visualization Manager:
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.08
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: left_arm
Planning Group: manipulator
Query Goal State: true
Query Start State: false
Show Workspace: false
......@@ -362,293 +131,63 @@ Visualization Manager:
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
ee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
world:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
wrist_1_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
wrist_2_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
wrist_3_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Scene Robot: true
Show Robot Collision: false
Show Robot Visual: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_link
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
......@@ -660,6 +199,11 @@ Visualization Manager:
Current:
Class: rviz/XYOrbit
Distance: 2.9965
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.113567
Y: 0.10592
......@@ -667,23 +211,23 @@ Visualization Manager:
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.509797
Target Frame: /base_link
Target Frame: world
Value: XYOrbit (rviz)
Yaw: 5.65995
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1337
Height: 876
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000002a20000031cfc0200000005fb000000100044006900730070006c0061007900730100000036000001b4000000b700fffffffb0000000800480065006c00700000000342000000bb0000006500fffffffb0000000a0056006900650077007300000003b0000000b00000009b00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001f0000001620000015700ffffff000003570000031c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 459
Y: -243
Width: 1535
X: 65
Y: 24
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