WIP: Generated using the latest features from MoveIt

.setup_assistant

@@ -2,9 +2,10 @@ moveit_setup_assistant_config:
   URDF:
     package: franka_description
     relative_path: robots/panda_arm_hand.urdf.xacro
+    xacro_args: ""
   SRDF:
-    relative_path: config/panda_arm.srdf.xacro
+    relative_path: config/panda.srdf
   CONFIG:
-    author_name: Mike Lautman
-    author_email: mike@picknik.ai
-    generated_timestamp: 1519152260
+    author_name: Tyler Weaver
+    author_email: tyler@picknik.ai
+    generated_timestamp: 1601757998

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.1.3)
 project(panda_moveit_config)
 
 find_package(catkin REQUIRED)

config/chomp_planning.yaml

@@ -4,25 +4,15 @@ max_iterations_after_collision_free: 5
 smoothness_cost_weight: 0.1
 obstacle_cost_weight: 1.0
 learning_rate: 0.01
-animate_path: true
-add_randomness: false
 smoothness_cost_velocity: 0.0
 smoothness_cost_acceleration: 1.0
 smoothness_cost_jerk: 0.0
-hmc_discretization: 0.01
-hmc_stochasticity: 0.01
-hmc_annealing_factor: 0.99
-use_hamiltonian_monte_carlo: false
-ridge_factor: 0.0
+ridge_factor: 0.01
 use_pseudo_inverse: false
 pseudo_inverse_ridge_factor: 1e-4
-animate_endeffector: false
-animate_endeffector_segment: "panda_rightfinger"
 joint_update_limit: 0.1
 collision_clearence: 0.2
 collision_threshold: 0.07
-random_jump_amount: 1.0
 use_stochastic_descent: true
-enable_failure_recovery: false
-max_recovery_attempts: 5
-trajectory_initialization_method: "quintic-spline"
+enable_failure_recovery: true
+max_recovery_attempts: 5

config/fake_controllers.yaml

@@ -11,9 +11,8 @@ controller_list:
   - name: fake_hand_controller
     joints:
       - panda_finger_joint1
-      - panda_finger_joint2
-initial:
+initial:  # Define initial robot poses.
   - group: panda_arm
     pose: ready
   - group: hand
-    pose: open
+    pose: open

config/joint_limits.yaml

@@ -1,55 +1,55 @@
 # 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]
 
-# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
-# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
-# to max accel in 1 ms) the acceleration limits are the ones that satisfy
-# max_jerk = (max_acceleration - min_acceleration) / 0.001
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
 
+# 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:
+  panda_finger_joint1:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  panda_finger_joint2:
+    has_velocity_limits: true
+    max_velocity: 0.2
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint1:
     has_velocity_limits: true
-    max_velocity: 2.1750
-    has_acceleration_limits: true
-    max_acceleration: 3.75
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint2:
     has_velocity_limits: true
-    max_velocity: 2.1750
-    has_acceleration_limits: true
-    max_acceleration: 1.875
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint3:
     has_velocity_limits: true
-    max_velocity: 2.1750
-    has_acceleration_limits: true
-    max_acceleration: 2.5
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint4:
     has_velocity_limits: true
-    max_velocity: 2.1750
-    has_acceleration_limits: true
-    max_acceleration: 3.125
+    max_velocity: 2.175
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint5:
     has_velocity_limits: true
-    max_velocity: 2.6100
-    has_acceleration_limits: true
-    max_acceleration: 3.75
+    max_velocity: 2.61
+    has_acceleration_limits: false
+    max_acceleration: 0
   panda_joint6:
     has_velocity_limits: true
-    max_velocity: 2.6100
-    has_acceleration_limits: true
-    max_acceleration: 5
-  panda_joint7:
-    has_velocity_limits: true
-    max_velocity: 2.6100
-    has_acceleration_limits: true
-    max_acceleration: 5
-  panda_finger_joint1:
-    has_velocity_limits: true
-    max_velocity: 0.1
+    max_velocity: 2.61
     has_acceleration_limits: false
     max_acceleration: 0
-  panda_finger_joint2:
+  panda_joint7:
     has_velocity_limits: true
-    max_velocity: 0.1
+    max_velocity: 2.61
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 0

config/kinematics.yaml

@@ -1,4 +1,4 @@
 panda_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.05
+  kinematics_solver_timeout: 0.005