From 4cd30f6597713c93781715ecf5cb836fbdfab3a4 Mon Sep 17 00:00:00 2001 From: David Yackzan Date: Thu, 2 Jan 2025 19:52:44 -0700 Subject: [PATCH 1/2] Update kinova objectives --- .../objectives/move_along_path.xml | 28 ++-- .../objectives/request_teleoperation.xml | 141 +++++++++++++++--- .../april_tag_object_registration.xml | 3 +- .../objectives/compliant_grasp_rafti.xml | 3 +- .../objectives/compliant_grasp_rafti_vfc.xml | 3 +- .../objectives/move_along_path.xml | 2 +- .../objectives/request_teleoperation.xml | 141 +++++++++++++++--- 7 files changed, 269 insertions(+), 52 deletions(-) diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml index 802809c..59c5823 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml @@ -1,6 +1,6 @@ - + + @@ -65,13 +69,14 @@ path="{pose_stamped_vector}" planning_group_name="manipulator" tip_link="end_effector_link" - tip_offset="0.0;0.0;0.0" + tip_offset="0.0;0.0;0.0;0.0;0.0;0.0" position_only="false" blending_radius="0.02" velocity_scale_factor="0.5" acceleration_scale_factor="0.5" trajectory_sampling_rate="100" joint_trajectory_msg="{joint_trajectory_msg}" + debug_solution="{debug_solution}" /> diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml index 90696f7..330d4fc 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/request_teleoperation.xml @@ -1,11 +1,12 @@ - + @@ -19,39 +20,141 @@ /> - + - + - + + + + + + + + + + + + + - + - + + + + + + + + + + + + + - + - + + + + + + + + + + + + + - - - + + + + + + + + + + + + + + + + + diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml index 89beb80..48e7abf 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/april_tag_object_registration.xml @@ -62,7 +62,8 @@ - + @@ -19,39 +20,141 @@ /> - + - + - + + + + + + + + + + + + + - + - + + + + + + + + + + + + + - + - + + + + + + + + + + + + + - - - + + + + + + + + + + + + + + + + + From a48d1f04728d9012889012ab6a5e2f08e4260cc0 Mon Sep 17 00:00:00 2001 From: Michael Wrock Date: Tue, 7 Jan 2025 23:07:16 -0800 Subject: [PATCH 2/2] added a movetowaypoint --- .../objectives/move_along_path.xml | 25 ++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml index 59c5823..c6ba703 100644 --- a/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml +++ b/src/moveit_pro_kinova_configs/kinova_gen3_mujoco_config/objectives/move_along_path.xml @@ -1,4 +1,4 @@ - + + + + + + + + +