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tstoyanovtstoyanov
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initial import of drivers for yumi. tested in simulation with robot studio. moveit seems to work fine with launch file demo_online
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‎yumi_description/urdf/yumi_pos.urdf.xacro

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<?xml version="1.0"?>
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<robot name="yumi" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Import Rviz colors -->
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<xacro:include filename="$(find yumi_description)/urdf/materials.xacro" />
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<!-- Import utilities -->
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<xacro:include filename="$(find yumi_description)/urdf/utilities.xacro" />
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<!--Import the yumi macro -->
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<xacro:include filename="$(find yumi_description)/urdf/yumi.xacro"/>
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<!--Import the yumi servo gripper macro -->
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<xacro:include filename="$(find yumi_description)/urdf/yumi_servo_gripper.xacro"/>
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<!--yumi-->
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<xacro:yumi name="yumi" hardware_interface="PositionJointInterface" parent="world">
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<origin xyz="0 0 0.1" rpy="0 0 0" />
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</xacro:yumi>
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<!--right gripper-->
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<xacro:yumi_servo_gripper name="gripper_r" hardware_interface="PositionJointInterface" parent="yumi_link_7_r">
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<origin xyz="0 0 0.007" rpy="0 0 ${PI}" />
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</xacro:yumi_servo_gripper>
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<!--left gripper-->
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<xacro:yumi_servo_gripper name="gripper_l" hardware_interface="PositionJointInterface" parent="yumi_link_7_l">
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<origin xyz="0 0 0.007" rpy="0 0 ${PI}" />
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</xacro:yumi_servo_gripper>
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</robot>

‎yumi_moveit_config/.setup_assistant

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moveit_setup_assistant_config:
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URDF:
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package: yumi_description
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relative_path: urdf/yumi.urdf
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SRDF:
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relative_path: config/yumi.srdf
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CONFIG:
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generated_timestamp: 1458079264

‎yumi_moveit_config/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(yumi_moveit_config)
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find_package(catkin REQUIRED)
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catkin_package()
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install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

‎yumi_moveit_config/config/controllers.yaml

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controller_list:
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- name: "left_arm"
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action_ns: joint_trajectory_action
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type: FollowJointTrajectory
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joints:
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- yumi_joint_1_l
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- yumi_joint_2_l
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- yumi_joint_7_l
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- yumi_joint_3_l
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- yumi_joint_4_l
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- yumi_joint_5_l
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- yumi_joint_6_l
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- name: "right_arm"
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action_ns: joint_trajectory_action
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type: FollowJointTrajectory
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joints:
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- yumi_joint_1_r
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- yumi_joint_2_r
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- yumi_joint_7_r
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- yumi_joint_3_r
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- yumi_joint_4_r
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- yumi_joint_5_r
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- yumi_joint_6_r

‎yumi_moveit_config/config/fake_controllers.yaml

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controller_list:
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- name: fake_left_arm_controller
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joints:
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- yumi_joint_1_l
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- yumi_joint_2_l
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- yumi_joint_7_l
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- yumi_joint_3_l
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- yumi_joint_4_l
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- yumi_joint_5_l
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- yumi_joint_6_l
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- name: fake_right_arm_controller
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joints:
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- yumi_joint_1_r
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- yumi_joint_2_r
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- yumi_joint_7_r
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- yumi_joint_3_r
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- yumi_joint_4_r
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- yumi_joint_5_r
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- yumi_joint_6_r

‎yumi_moveit_config/config/joint_limits.yaml

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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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yumi_joint_1_l:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_1_r:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_2_l:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_2_r:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_3_l:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_3_r:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_4_l:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_4_r:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_5_l:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_5_r:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_6_l:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_6_r:
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has_velocity_limits: true
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max_velocity: 6.98131700798
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_7_l:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0
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yumi_joint_7_r:
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has_velocity_limits: true
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max_velocity: 3.14159265359
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has_acceleration_limits: false
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max_acceleration: 0

‎yumi_moveit_config/config/kinematics.yaml

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left_arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.005
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kinematics_solver_timeout: 0.005
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kinematics_solver_attempts: 3
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right_arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.005
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kinematics_solver_timeout: 0.005
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kinematics_solver_attempts: 3

‎yumi_moveit_config/config/ompl_planning.yaml

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planner_configs:
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SBLkConfigDefault:
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type: geometric::SBL
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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ESTkConfigDefault:
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type: geometric::EST
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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LBKPIECEkConfigDefault:
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type: geometric::LBKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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BKPIECEkConfigDefault:
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type: geometric::BKPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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KPIECEkConfigDefault:
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type: geometric::KPIECE
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
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border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
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failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
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min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
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RRTkConfigDefault:
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type: geometric::RRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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RRTConnectkConfigDefault:
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type: geometric::RRTConnect
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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RRTstarkConfigDefault:
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type: geometric::RRTstar
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
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TRRTkConfigDefault:
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type: geometric::TRRT
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range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
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goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
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max_states_failed: 10 # when to start increasing temp. default: 10
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temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
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min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
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init_temperature: 10e-6 # initial temperature. default: 10e-6
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frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
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frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
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k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
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PRMkConfigDefault:
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type: geometric::PRM
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max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
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PRMstarkConfigDefault:
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type: geometric::PRMstar
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left_arm:
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planner_configs:
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- SBLkConfigDefault
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- ESTkConfigDefault
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- LBKPIECEkConfigDefault
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- BKPIECEkConfigDefault
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- KPIECEkConfigDefault
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- RRTkConfigDefault
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- RRTConnectkConfigDefault
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- RRTstarkConfigDefault
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- TRRTkConfigDefault
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- PRMkConfigDefault
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- PRMstarkConfigDefault
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right_arm:
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planner_configs:
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- SBLkConfigDefault
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- ESTkConfigDefault
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- LBKPIECEkConfigDefault
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- BKPIECEkConfigDefault
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- KPIECEkConfigDefault
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- RRTkConfigDefault
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- RRTConnectkConfigDefault
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- RRTstarkConfigDefault
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- TRRTkConfigDefault
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- PRMkConfigDefault
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- PRMstarkConfigDefault

‎yumi_moveit_config/config/yumi.srdf

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<?xml version="1.0" ?>
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<!--This does not replace URDF, and is not an extension of URDF.
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This is a format for representing semantic information about the robot structure.
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A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
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-->
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<robot name="yumi">
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<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
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<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
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<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
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<!--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-->
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<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
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<group name="left_arm">
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<joint name="world_joint" />
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<joint name="yumi_joint_1_l" />
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<joint name="yumi_joint_2_l" />
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<joint name="yumi_joint_7_l" />
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<joint name="yumi_joint_3_l" />
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<joint name="yumi_joint_4_l" />
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<joint name="yumi_joint_5_l" />
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<joint name="yumi_joint_6_l" />
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<joint name="yumi_link_7_l_joint" />
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</group>
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<group name="right_arm">
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<joint name="world_joint" />
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<joint name="yumi_joint_1_r" />
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<joint name="yumi_joint_2_r" />
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<joint name="yumi_joint_7_r" />
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<joint name="yumi_joint_3_r" />
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<joint name="yumi_joint_4_r" />
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<joint name="yumi_joint_5_r" />
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<joint name="yumi_joint_6_r" />
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<joint name="yumi_link_7_r_joint" />
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</group>
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<!--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)-->
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<virtual_joint name="world_joint" type="fixed" parent_frame="world" child_link="yumi_body" />
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<!--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. -->
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<disable_collisions link1="gripper_l_base" link2="gripper_l_finger_l" reason="Adjacent" />
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<disable_collisions link1="gripper_l_base" link2="gripper_l_finger_r" reason="Adjacent" />
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<disable_collisions link1="gripper_l_base" link2="yumi_link_6_l" reason="Never" />
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<disable_collisions link1="gripper_l_base" link2="yumi_link_7_l" reason="Adjacent" />
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<disable_collisions link1="gripper_l_finger_l" link2="gripper_l_finger_r" reason="Default" />
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<disable_collisions link1="gripper_l_finger_l" link2="yumi_link_5_l" reason="Never" />
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<disable_collisions link1="gripper_l_finger_l" link2="yumi_link_6_l" reason="Never" />
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<disable_collisions link1="gripper_l_finger_l" link2="yumi_link_7_l" reason="Never" />
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<disable_collisions link1="gripper_l_finger_r" link2="yumi_link_5_l" reason="Never" />
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<disable_collisions link1="gripper_l_finger_r" link2="yumi_link_6_l" reason="Never" />
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<disable_collisions link1="gripper_l_finger_r" link2="yumi_link_7_l" reason="Never" />
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<disable_collisions link1="gripper_r_base" link2="gripper_r_finger_l" reason="Adjacent" />
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<disable_collisions link1="gripper_r_base" link2="gripper_r_finger_r" reason="Adjacent" />
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<disable_collisions link1="gripper_r_base" link2="yumi_link_5_l" reason="Default" />
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<disable_collisions link1="gripper_r_base" link2="yumi_link_6_l" reason="Default" />
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<disable_collisions link1="gripper_r_base" link2="yumi_link_6_r" reason="Never" />
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<disable_collisions link1="gripper_r_base" link2="yumi_link_7_r" reason="Adjacent" />
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<disable_collisions link1="gripper_r_finger_l" link2="gripper_r_finger_r" reason="Default" />
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<disable_collisions link1="gripper_r_finger_l" link2="yumi_link_5_r" reason="Never" />
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<disable_collisions link1="gripper_r_finger_l" link2="yumi_link_6_r" reason="Never" />
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<disable_collisions link1="gripper_r_finger_l" link2="yumi_link_7_r" reason="Never" />
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<disable_collisions link1="gripper_r_finger_r" link2="yumi_link_5_r" reason="Never" />
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<disable_collisions link1="gripper_r_finger_r" link2="yumi_link_6_r" reason="Never" />
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<disable_collisions link1="gripper_r_finger_r" link2="yumi_link_7_r" reason="Never" />
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<disable_collisions link1="yumi_body" link2="yumi_link_1_l" reason="Adjacent" />
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<disable_collisions link1="yumi_body" link2="yumi_link_1_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_1_l" link2="yumi_link_2_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_1_r" link2="yumi_link_2_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_2_l" link2="yumi_link_3_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_2_r" link2="yumi_link_3_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_3_l" link2="yumi_link_4_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_3_r" link2="yumi_link_4_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_4_l" link2="yumi_link_5_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_4_r" link2="yumi_link_5_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_5_l" link2="yumi_link_6_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_5_l" link2="yumi_link_7_l" reason="Never" />
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<disable_collisions link1="yumi_link_5_r" link2="yumi_link_6_r" reason="Adjacent" />
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<disable_collisions link1="yumi_link_5_r" link2="yumi_link_7_r" reason="Never" />
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<disable_collisions link1="yumi_link_6_l" link2="yumi_link_7_l" reason="Adjacent" />
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<disable_collisions link1="yumi_link_6_r" link2="yumi_link_7_r" reason="Adjacent" />
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</robot>

‎yumi_moveit_config/launch/default_warehouse_db.launch

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<launch>
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<arg name="reset" default="false"/>
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<!-- If not specified, we'll use a default database location -->
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<arg name="moveit_warehouse_database_path" default="$(find yumi_moveit_config)/default_warehouse_mongo_db" />
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<!-- Launch the warehouse with the configured database location -->
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<include file="$(find yumi_moveit_config)/launch/warehouse.launch">
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<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
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</include>
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<!-- If we want to reset the database, run this node -->
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<node if="$(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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