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Merge pull request #60 from UM-ARM-Lab/med
Rework base robot classes and add Kuka iiwa Med support
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Original file line number | Diff line number | Diff line change |
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<launch> | ||
<arg name="sim" default="false"/> | ||
<arg name="gui" default="true"/> | ||
<arg name="update_description" default="true"/> | ||
<arg name="verbose" default="false"/> | ||
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<group if="$(arg update_description)"> | ||
<!-- uploads robot description and setups up other parameters --> | ||
<include file="$(find med_moveit_config)/launch/planning_context.launch"> | ||
<arg name="load_robot_description" value="true"/> | ||
</include> | ||
</group> | ||
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<group if="$(arg sim)"> | ||
<!-- Start gazebo --> | ||
<include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
<arg name="gui" value="$(arg gui)"/> | ||
<arg name="paused" value="true"/> | ||
<arg name="verbose" value="$(arg verbose)"/> | ||
</include> | ||
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<!-- Spawn the robot in gazebo --> | ||
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" | ||
args="-urdf -model med -param robot_description"/> | ||
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<!-- start the ROS controllers, only used in gazebo. This merges gripper and arm joint states --> | ||
<include file="$(find med_control)/launch/med_control_gazebo.launch"> | ||
<arg name="robot_namespace" value="med"/> | ||
</include> | ||
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<!-- Move it--> | ||
<include ns="med" file="$(find med_moveit_config)/launch/move_group.launch"> | ||
<arg name="allow_trajectory_execution" value="true"/> | ||
<arg name="moveit_controller_manager" value="gazebo"/> | ||
</include> | ||
</group> | ||
<group unless="$(arg sim)"> | ||
<!-- Start gazebo --> | ||
<!-- <include file="$(find gazebo_ros)/launch/empty_world.launch"> --> | ||
<!-- <arg name="gui" value="$(arg gui)"/> --> | ||
<!-- <arg name="paused" value="false"/> --> | ||
<!-- <arg name="verbose" value="$(arg verbose)"/> --> | ||
<!-- <arg name="use_sim_time" value="false"/> --> | ||
<!-- </include> --> | ||
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<!-- to let moveit send trajectories with the real robot --> | ||
<include file="$(find arm_robots)/launch/trajectory_follower.launch"> | ||
<arg name="use_med" value="true"/> | ||
</include> | ||
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<!-- MoveIt--> | ||
<include ns="med" file="$(find med_moveit_config)/launch/move_group.launch"> | ||
<arg name="allow_trajectory_execution" value="true"/> | ||
<arg name="moveit_controller_manager" value="real"/> | ||
</include> | ||
</group> | ||
</launch> |
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import numpy as np | ||
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# Joint Names | ||
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ARM_JOINT_NAMES = ( | ||
"med_kuka_joint_1", | ||
"med_kuka_joint_2", | ||
"med_kuka_joint_3", | ||
"med_kuka_joint_4", | ||
"med_kuka_joint_5", | ||
"med_kuka_joint_6", | ||
"med_kuka_joint_7", | ||
) | ||
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# From Med manual 4.3.2 and copied to kuka_iiwa_interface joint_limits.yaml | ||
KUKA_MED_MAX_JOINT_VELOCITIES_DEG_S = (85.0, 85.0, 100.0, 75.0, 130.0, 135.0, 135.0) | ||
KUKA_MED_MAX_JOINT_VELOCITIES = list(s * np.pi / 180 for s in KUKA_MED_MAX_JOINT_VELOCITIES_DEG_S) | ||
KUKA_MED_MAX_JOINT_ACCEL_DEG_S2 = (50.0, 50.0, 100.0, 100.0, 1000.0, 650.0, 1500.0) | ||
KUKA_MED_MAX_JOINT_ACCEL = list(s * np.pi / 180 for s in KUKA_MED_MAX_JOINT_ACCEL_DEG_S2) |
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