320M5/PI增加力控夹爪ros1 moveit、320PI版本增加Pro自适应夹爪demo

mycobot_320/new_mycobot_320/scripts/mycobot_320_force_gripper_slider.py

@@ -13,7 +13,19 @@
 import time
 from sensor_msgs.msg import JointState
 import math
-from pymycobot.mycobot320 import MyCobot320
+import pymycobot
+from packaging import version
+
+# min low version require
+MIN_REQUIRE_VERSION = '3.6.4'
+
+current_verison = pymycobot.__version__
+print('current pymycobot library version: {}'.format(current_verison))
+if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
+    raise RuntimeError('{}The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
+else:
+    print('pymycobot library version meets the requirements!')
+    from pymycobot.mycobot320 import MyCobot320
 
 
 mc = None

mycobot_320/new_mycobot_320_force_gripper_moveit/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: mycobot_description
+    relative_path: urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/firefighter.srdf
+  CONFIG:
+    author_name: wangweijian
+    author_email: [email protected]
+    generated_timestamp: 1732845154

mycobot_320/new_mycobot_320_force_gripper_moveit/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(new_mycobot_320_force_gripper_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

mycobot_320/new_mycobot_320_force_gripper_moveit/config/cartesian_limits.yaml

@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

mycobot_320/new_mycobot_320_force_gripper_moveit/config/chomp_planning.yaml

@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5

mycobot_320/new_mycobot_320_force_gripper_moveit/config/fake_controllers.yaml

@@ -0,0 +1,19 @@
+controller_list:
+  - name: fake_arm_group_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
+  - name: fake_gripper_group_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - gripper_controller
+initial:  # Define initial robot poses per group
+  - group: arm_group
+    pose: init_pose
+  - group: gripper_group
+    pose: init_gripper

mycobot_320/new_mycobot_320_force_gripper_moveit/config/firefighter.srdf

@@ -0,0 +1,123 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="firefighter">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--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-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm_group">
+        <chain base_link="base" tip_link="link6"/>
+    </group>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint2_to_joint1" value="0"/>
+        <joint name="joint3_to_joint2" value="0"/>
+        <joint name="joint4_to_joint3" value="0"/>
+        <joint name="joint5_to_joint4" value="0"/>
+        <joint name="joint6_to_joint5" value="0"/>
+        <joint name="joint6output_to_joint6" value="0"/>
+    </group_state>
+    <group_state name="init_gripper" group="gripper_group">
+        <joint name="gripper_controller" value="0"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="link6" group="gripper_group" parent_group="arm_group"/>
+    <!--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)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
+    <!--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. -->
+    <disable_collisions link1="base" link2="gripper_base" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link6" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link4" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+    <disable_collisions link1="link3" link2="link6" reason="Never"/>
+    <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
+    <disable_collisions link1="link4" link2="link6" reason="Never"/>
+    <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
+</robot>

mycobot_320/new_mycobot_320_force_gripper_moveit/config/gazebo_controllers.yaml

@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50