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updated gen3 lite moveit config w/ arm & gripper groups #250

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updated gen3 lite moveit config w/ arm & gripper groups #250

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ddfcde1
updated gen3 lite moveit config w/ arm & gripper groups
htchr Nov 1, 2024
1717d5c
Update ros2_controllers.yaml
htchr Nov 4, 2024
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2 changes: 1 addition & 1 deletion kortex_description/arms/gen3_lite/6dof/config/ros2_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ joint_trajectory_controller:
- velocity
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
allow_partial_joints_goal: true
constraints:
stopped_velocity_tolerance: 0.0
goal_time: 0.0
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32 changes: 30 additions & 2 deletions kortex_moveit_config/kinova_gen3_lite_moveit_config/config/gen3_lite.srdf
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Expand Up @@ -10,16 +10,45 @@
<!--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="gen3_lite_arm">
<joint name="base_joint"/>
<joint name="joint_1"/>
<joint name="joint_2"/>
<joint name="joint_3"/>
<joint name="joint_4"/>
<joint name="joint_5"/>
<joint name="joint_6"/>
<joint name="end_effector"/>
</group>
<group name="gen3_lite_gripper">
<joint name="gripper_base_joint"/>
<joint name="left_finger_bottom_joint"/>
<joint name="right_finger_bottom_joint"/>
</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="vertical" group="gen3_lite_arm">
<joint name="joint_1" value="0"/>
<joint name="joint_2" value="0"/>
<joint name="joint_3" value="0"/>
<joint name="joint_4" value="0"/>
<joint name="joint_5" value="0"/>
<joint name="joint_6" value="0"/>
</group_state>
<group_state name="home" group="gen3_lite_arm">
<joint name="joint_1" value="0"/>
<joint name="joint_2" value="0.2229"/>
<joint name="joint_3" value="2.6306"/>
<joint name="joint_4" value="-1.5707"/>
<joint name="joint_5" value="-0.355"/>
<joint name="joint_6" value="1.5707"/>
</group_state>
<group_state name="open" group="gen3_lite_gripper">
<joint name="right_finger_bottom_joint" value="0"/>
</group_state>
<group_state name="closed" group="gen3_lite_gripper">
<joint name="right_finger_bottom_joint" value="0.775"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="gen3_lite_gripper" parent_link="end_effector_link" group="gen3_lite_arm"/>
<end_effector name="gen3_lite_gripper" parent_link="end_effector_link" group="gen3_lite_gripper"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="left_finger_bottom_joint"/>
<passive_joint name="left_finger_tip_joint"/>
Expand All @@ -46,7 +75,6 @@
<disable_collisions link1="gripper_base_link" link2="upper_wrist_link" reason="Adjacent"/>
<disable_collisions link1="left_finger_dist_link" link2="left_finger_prox_link" reason="Adjacent"/>
<disable_collisions link1="left_finger_dist_link" link2="lower_wrist_link" reason="Never"/>
<disable_collisions link1="left_finger_dist_link" link2="right_finger_dist_link" reason="User"/>
<disable_collisions link1="left_finger_dist_link" link2="right_finger_prox_link" reason="Never"/>
<disable_collisions link1="left_finger_dist_link" link2="upper_wrist_link" reason="Never"/>
<disable_collisions link1="left_finger_prox_link" link2="lower_wrist_link" reason="Never"/>
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4 changes: 4 additions & 0 deletions kortex_moveit_config/kinova_gen3_lite_moveit_config/config/kinematics.yaml
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Expand Up @@ -2,3 +2,7 @@ gen3_lite_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001
gen3_lite_gripper:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001