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Required changes for panda_moveit_config #188

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wants to merge 11 commits into from
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Required changes for panda_moveit_config #188

wants to merge 11 commits into from

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rhaschke
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@rhaschke rhaschke commented Oct 27, 2021 •
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This merge commit gathers required changes for moveit/panda_moveit_config#96. The individual PRs are listed in #193.

@rhaschke rhaschke mentioned this pull request Oct 27, 2021
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@rhaschke rhaschke force-pushed the develop branch 2 times, most recently from 2692270 to 7813b3f Compare October 28, 2021 18:07
@rickstaa rickstaa mentioned this pull request Nov 2, 2021
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@rhaschke rhaschke mentioned this pull request Nov 2, 2021
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rhaschke added a commit to ubi-agni/moveit that referenced this pull request Nov 7, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies
589050d 
- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Nov 8, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies
c898c9c 
- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links
@rhaschke rhaschke mentioned this pull request Nov 8, 2021
Open
13 tasks
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Nov 8, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
1bc81a9 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
This was referenced Nov 8, 2021
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rickstaa
rickstaa reviewed Nov 9, 2021
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franka_gazebo/config/franka_hw_sim.yaml Outdated
type: franka_gazebo/FrankaGripperSim
arm_id: $(arg arm_id)
type: franka_gazebo/FrankaGripperSim
arm_id: $(arg arm_id)

finger1:
gains: { p: 100, i: 25, d: 20 }
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Just a quick reminder for ourselves that these PID gains need to be improved before this pull request is merged (see #173 (comment) for more information).

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Based on #173 (comment) this commit should be removed.

rickstaa pushed a commit to rickstaa/moveit that referenced this pull request Nov 11, 2021
@rhaschke @rickstaa
TEMP: configure required upstream and downstream dependencies, drop R…
beba5a6 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
@rhaschke rhaschke mentioned this pull request Nov 11, 2021
Open
@rhaschke
Rename panda_arm.xacro -> arm.xacro
a5d59fd 
... and xacro:panda_arm -> xacro:arm
to be consistent with hand.xacro
@rhaschke
Unify use of arm_id (arm.xacro) and ns (hand.xacro) to prefix
5c08982 
IMO, prefix much better describes the purpose of these two variables
in the present context, namely providing a name prefix to joints and links.
@rhaschke
Use relative includes
9d7af4c
@rhaschke
Use both, detailed meshes and coarse collision geometries
33c713c 
They serve different purposes:
- coarse collision geometries mimic the internal self-collision checking
  of the real-robot controller
- mesh models should be use for collision checking with environmental objects
@rhaschke
Add detailed collision meshes for fingers
7b6bbed
@rhaschke
Unify real-world and Gazebo URDF descriptions
7f7eb90 
- Declare inertial properties in a yaml file
- Use xacro:inertial macro
@rhaschke
Add dynamics parameters for joints from panda_gazebo
7961f52
@rhaschke rhaschke force-pushed the develop branch 2 times, most recently from 2063cc9 to d8ff386 Compare November 12, 2021 10:08
@rhaschke
Define hand_tcp frame
97e73fa 
... in the center between and aligned with the fingers
@rhaschke
Distinguish link8 and link8_sc
63ecb77
@rhaschke
Merge PRs frankaemika#199 (modular-xacro), frankaemika#191 (drop-join…
e9d9cb2 
…t-states-desired) and frankaemika#194 (tool-frame) into develop
@rickstaa rickstaa mentioned this pull request Nov 23, 2021
Closed
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 20, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
ff9ac3c 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
34c3584 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
112f1c5 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
395bc3c 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
0ea8cb1 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
8839758 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
rhaschke added a commit to ubi-agni/moveit that referenced this pull request Dec 28, 2021
@rhaschke
TEMP: configure required upstream and downstream dependencies, drop R…
7768592 
…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
@rickstaa rickstaa mentioned this pull request Jan 29, 2022
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11 tasks
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rickstaa commented Sep 4, 2023

@rhaschke, it appears that many of the changes we've suggested in this pull request are already in some form within the develop branch. Considering this, would it be advisable to close this draft?

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Closing, as most of the individual commits are merged upstream.

@rhaschke rhaschke closed this Sep 18, 2023
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