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Minor Updates for Compatibility with SNP #7

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merged 3 commits into from
Mar 14, 2024
Merged

Minor Updates for Compatibility with SNP #7

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afd5f34
Added media geometry to TCP
marip8 Mar 14, 2024
e0c50c4
Updated planning server parameters
marip8 Mar 14, 2024
a243298
Added FJT action parameter to BT
marip8 Mar 14, 2024
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37 changes: 21 additions & 16 deletions config/workcell.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -14,24 +14,29 @@
<!-- Contact manager plugins -->
<contact_managers_plugin_config filename="package://snp_automate_2022/config/workcell_plugins.yaml"/>

<disable_collisions link1="tool0" link2="ee" reason="Adjacent"/>
<disable_collisions link1="link_1_s" link2="link_6_t" reason="Never"/>
<disable_collisions link1="link_2_l" link2="link_6_t" reason="Never"/>
<disable_collisions link1="base_link" link2="table" reason="Never"/>
<disable_collisions link1="link_5_b" link2="link_4_r" reason="Adjacent"/>
<disable_collisions link1="link_1_s" link2="table" reason="Never"/>
<disable_collisions link1="link_4_r" link2="link_1_s" reason="Never"/>
<disable_collisions link1="floor" link2="table" reason="Never"/>
<disable_collisions link1="floor" link2="base_link" reason="Never"/>
<disable_collisions link1="floor" link2="link_1_s" reason="Never"/>
<disable_collisions link1="floor" link2="link_2_l" reason="Never"/>
<disable_collisions link1="floor" link2="link_3_u" reason="Never"/>
<disable_collisions link1="table" link2="base_link" reason="Never"/>
<disable_collisions link1="table" link2="link_1_s" reason="Never"/>
<disable_collisions link1="base_link" link2="link_1_s" reason="Adjacent"/>
<disable_collisions link1="link_6_t" link2="link_3_u" reason="Never"/>
<disable_collisions link1="link_5_b" link2="link_6_t" reason="Adjacent"/>
<disable_collisions link1="link_2_l" link2="link_1_s" reason="Adjacent"/>
<disable_collisions link1="link_2_l" link2="table" reason="Never"/>
<disable_collisions link1="link_6_t" link2="ee" reason="Never"/>
<disable_collisions link1="link_4_r" link2="link_3_u" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link_3_u" reason="Never"/>
<disable_collisions link1="link_1_s" link2="link_2_l" reason="Adjacent"/>
<disable_collisions link1="link_1_s" link2="link_3_u" reason="Never"/>
<disable_collisions link1="link_2_l" link2="link_3_u" reason="Adjacent"/>
<disable_collisions link1="link_5_b" link2="link_2_l" reason="Never"/>
<disable_collisions link1="link_5_b" link2="link_3_u" reason="Never"/>
<disable_collisions link1="base_link" link2="link_2_l" reason="Never"/>
<disable_collisions link1="link_2_l" link2="link_4_r" reason="Never"/>
<disable_collisions link1="link_3_u" link2="link_4_r" reason="Adjacent"/>
<disable_collisions link1="link_3_u" link2="link_5_b" reason="Never"/>
<disable_collisions link1="link_3_u" link2="link_6_t" reason="Never"/>
<disable_collisions link1="link_3_u" link2="ee" reason="Never"/>
<disable_collisions link1="link_4_r" link2="link_5_b" reason="Adjacent"/>
<disable_collisions link1="link_4_r" link2="link_6_t" reason="Never"/>
<disable_collisions link1="link_5_b" link2="link_6_t" reason="Adjacent"/>
<disable_collisions link1="link_5_b" link2="ee" reason="Never"/>
<disable_collisions link1="link_5_b" link2="sand_tcp" reason="Never"/>
<disable_collisions link1="link_6_t" link2="ee" reason="Always"/>
<disable_collisions link1="link_6_t" link2="sand_tcp" reason="Never"/>
<disable_collisions link1="ee" link2="sand_tcp" reason="Always"/>
</robot>
7 changes: 5 additions & 2 deletions launch/start.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,8 @@
<arg name="mesh_file" default="$(find-pkg-share snp_automate_2022)/meshes/part_scan.ply"/>
<arg name="scan_trajectory_file" default="$(find-pkg-share snp_automate_2022)/config/scan_traj.yaml"/>
<arg name="verbose" default="True"/>
<arg name="touch_links" default="[table, base_link, floor]"/>
<arg name="scan_disabled_contact_links" default="[table, base_link, floor]"/>
<arg name="scan_reduced_contact_links" default="[sand_tcp]"/>
<arg name="robot_description_file" default="$(find-pkg-share snp_automate_2022)/urdf/workcell.xacro"/>
<arg name="robot_description" default="$(command 'xacro $(var robot_description_file) ros_distro:=$(env ROS_DISTRO)')"/>
<arg name="robot_description_semantic" default="$(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')"/>
Expand Down Expand Up @@ -41,6 +42,7 @@
<param name="camera_frame" value="camera_color_optical_frame"/>
<param name="robot_description" value="$(var robot_description)"/>
<param name="robot_description_semantic" value="$(var robot_description_semantic)"/>
<param name="follow_joint_trajectory_action" value="$(var follow_joint_trajectory_action)"/>
<!-- TSDF parameters -->
<param name="tsdf.min.x" value="0.21"/>
<param name="tsdf.min.y" value="-0.45"/>
Expand Down Expand Up @@ -83,7 +85,8 @@
<arg name="robot_description" value="$(var robot_description)"/>
<arg name="robot_description_semantic" value="$(var robot_description_semantic)"/>
<arg name="verbose" value="$(var verbose)"/>
<arg name="touch_links" value="$(var touch_links)"/>
<arg name="scan_disabled_contact_links" value="$(var scan_disabled_contact_links)"/>
<arg name="scan_reduced_contact_links" value="$(var scan_reduced_contact_links)"/>
</include>

<node pkg="snp_scanning" exec="scan_motion_plan_from_file_node">
Expand Down
18 changes: 17 additions & 1 deletion urdf/workcell.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,23 @@
</joint>

<!-- Add TCP -->
<link name="sand_tcp"/>
<xacro:property name="media_radius" value="0.075"/>
<xacro:property name="media_length" value="0.05"/>
<xacro:property name="media_collision_offset" value="0.01"/>
<link name="sand_tcp">
<visual>
<origin xyz="0.0 0.0 ${-(media_length / 2.0)}"/>
<geometry>
<cylinder radius="${media_radius}" length="${media_length}"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 ${-(media_length / 2.0) - media_collision_offset}"/>
<geometry>
<cylinder radius="${media_radius}" length="${media_length - media_collision_offset}"/>
</geometry>
</collision>
</link>
<joint name="sand_tcp_joint" type="fixed">
<parent link="tool_flange"/>
<child link="sand_tcp"/>
Expand Down
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