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UR20 description and meshes #657
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UR20 description and meshes
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| Original file line number | Diff line number | Diff line change |
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| moveit_setup_assistant_config: | ||
| URDF: | ||
| package: ur_description | ||
| relative_path: urdf/ur20.xacro | ||
| xacro_args: "" | ||
| SRDF: | ||
| relative_path: config/ur20.srdf | ||
| CONFIG: | ||
| author_name: Felix Exner | ||
| author_email: felix@fexner.de | ||
| generated_timestamp: 1611154369 |
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| cmake_minimum_required(VERSION 3.0.2) | ||
| project(ur20_moveit_config) | ||
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| find_package(catkin REQUIRED) | ||
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| catkin_package() | ||
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| if (CATKIN_ENABLE_TESTING) | ||
| find_package(roslaunch REQUIRED) | ||
| roslaunch_add_file_check(tests/moveit_planning_execution.xml) | ||
| endif() | ||
|
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| install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | ||
| install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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| 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 |
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| controller_list: | ||
| - name: fake_manipulator_controller | ||
| joints: | ||
| - shoulder_pan_joint | ||
| - shoulder_lift_joint | ||
| - elbow_joint | ||
| - wrist_1_joint | ||
| - wrist_2_joint | ||
| - wrist_3_joint | ||
| initial: # Define initial robot poses. | ||
| - group: manipulator | ||
| pose: home |
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| # 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: | ||
| elbow_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 3.1415926535897931 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| shoulder_lift_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 2.0943951023931953 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| shoulder_pan_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 2.0943951023931953 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| wrist_1_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 3.1415926535897931 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| wrist_2_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 3.1415926535897931 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 | ||
| wrist_3_joint: | ||
| has_velocity_limits: true | ||
| max_velocity: 3.1415926535897931 | ||
| has_acceleration_limits: false | ||
| max_acceleration: 0 |
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| manipulator: | ||
| kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin | ||
| solve_type: Distance | ||
| kinematics_solver_search_resolution: 0.005 | ||
| kinematics_solver_timeout: 0.005 |
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| Original file line number | Diff line number | Diff line change |
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| 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 | ||
| manipulator: | ||
| longest_valid_segment_fraction: 0.01 | ||
| 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 |
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| Original file line number | Diff line number | Diff line change |
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| controller_list: | ||
| - name: "scaled_pos_joint_traj_controller" | ||
| action_ns: follow_joint_trajectory | ||
| type: FollowJointTrajectory | ||
| joints: | ||
| - shoulder_pan_joint | ||
| - shoulder_lift_joint | ||
| - elbow_joint | ||
| - wrist_1_joint | ||
| - wrist_2_joint | ||
| - wrist_3_joint |
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| Original file line number | Diff line number | Diff line change |
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| <?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="ur20_robot"> | ||
| <!--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="manipulator"> | ||
| <chain base_link="base_link" tip_link="tool0" /> | ||
| </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="manipulator"> | ||
| <joint name="elbow_joint" value="0" /> | ||
| <joint name="shoulder_lift_joint" value="0" /> | ||
| <joint name="shoulder_pan_joint" value="0" /> | ||
| <joint name="wrist_1_joint" value="0" /> | ||
| <joint name="wrist_2_joint" value="0" /> | ||
| <joint name="wrist_3_joint" value="0" /> | ||
| </group_state> | ||
| <group_state name="up" group="manipulator"> | ||
| <joint name="elbow_joint" value="0" /> | ||
| <joint name="shoulder_lift_joint" value="-1.5707" /> | ||
| <joint name="shoulder_pan_joint" value="0" /> | ||
| <joint name="wrist_1_joint" value="-1.5707" /> | ||
| <joint name="wrist_2_joint" value="0" /> | ||
| <joint name="wrist_3_joint" value="0" /> | ||
| </group_state> | ||
| <!--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_inertia" link2="shoulder_link" reason="Adjacent" /> | ||
| <disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" /> | ||
| <disable_collisions link1="base_link_inertia" link2="wrist_1_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="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="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" /> | ||
| </robot> |
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ur20_moveit_config/launch/chomp_planning_pipeline.launch.xml
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| <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" | ||
| /> | ||
|
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| <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)" /> | ||
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| <rosparam command="load" file="$(find ur20_moveit_config)/config/chomp_planning.yaml" /> | ||
| </launch> |
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| <launch> | ||
|
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| <arg name="reset" default="false"/> | ||
| <!-- If not specified, we'll use a default database location --> | ||
| <arg name="moveit_warehouse_database_path" default="$(find ur20_moveit_config)/default_warehouse_mongo_db" /> | ||
|
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| <!-- Launch the warehouse with the configured database location --> | ||
| <include file="$(find ur20_moveit_config)/launch/warehouse.launch"> | ||
| <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> | ||
| </include> | ||
|
|
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| <!-- 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" /> | ||
|
|
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| </launch> |
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Should we instead make this point to the
ur_description/meshes/ur20/LICENSE.txtfile? The online version could be changed at any time. The files in this repository would fall under the version of the license as it is right now, in this PR. It would make sense to me to make this badge link to the version the files would fall under.There was a problem hiding this comment.
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From what I understood, the license is structured such that the latest version always is relevant (see point 1.4)
Given that clause I think it does make sense to link to the online version.
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I'm not sure that's legal. There would be no change notification to current users, UR would be able to silently, unilaterally change the complete license without anyone being aware of it, and with all licenses I've worked with (and in the jurisdictions I've had to work with licenses), once you have a copy of the artefacts under that license, that copy and/or version will always fall under the version of the license as it was when you agreed to it.
I have seen licenses where there are provisions for updates made by the licensor, but those always include some sort of notification period, allowing current licensees to terminate their use of whatever is under the existing license if they feel they can't, or don't want to, agree to the new version.
Additionally, there is already a copy of the current version in the repository -- or at least there will be, after merging this PR.
It's best practice to include a copy of the license in all cases, even with OSS licenses. We don't do that currently in this repository, but that's an omission and should be fixed (in a later PR).
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The same section 1.4 also states:
which is what this PR will result in: a copy will be included.
So it doesn't seem strange to me to then point to that copy, and not the online version.
That seems like it would just lead to confusing situations.
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You have a point. Though the motivation was to remove the burden from the repo owner to ensure that the license is up to date.