diff --git a/openarm/package.xml b/openarm/package.xml index 03966be..7633791 100644 --- a/openarm/package.xml +++ b/openarm/package.xml @@ -24,7 +24,6 @@ ament_cmake - openarm_bimanual_moveit_config openarm_bringup openarm_description openarm_hardware diff --git a/openarm_bimanual_moveit_config/.setup_assistant b/openarm_bimanual_moveit_config/.setup_assistant deleted file mode 100644 index e48c9d9..0000000 --- a/openarm_bimanual_moveit_config/.setup_assistant +++ /dev/null @@ -1,24 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -moveit_setup_assistant_config: - urdf: - package: openarm_bimanual_description - relative_path: urdf/openarm_bimanual.urdf.xacro - srdf: - relative_path: config/openarm_bimanual.srdf - package_settings: - author_name: Thomason Zhou - author_email: t95zhou@uwaterloo.ca - generated_timestamp: 1745486864 diff --git a/openarm_bimanual_moveit_config/CMakeLists.txt b/openarm_bimanual_moveit_config/CMakeLists.txt deleted file mode 100644 index 58989a3..0000000 --- a/openarm_bimanual_moveit_config/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -cmake_minimum_required(VERSION 3.22) -project(openarm_bimanual_moveit_config) - -find_package(ament_cmake REQUIRED) - -ament_package() - -if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch") - install( - DIRECTORY launch - DESTINATION share/${PROJECT_NAME} - PATTERN "setup_assistant.launch" EXCLUDE) -endif() - -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME}) diff --git a/openarm_bimanual_moveit_config/LICENSE b/openarm_bimanual_moveit_config/LICENSE deleted file mode 100644 index d645695..0000000 --- a/openarm_bimanual_moveit_config/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. Definitions. - - "License" shall mean the terms and conditions for use, reproduction, - and distribution as defined by Sections 1 through 9 of this document. - - "Licensor" shall mean the copyright owner or entity authorized by - the copyright owner that is granting the License. - - "Legal Entity" shall mean the union of the acting entity and all - other entities that control, are controlled by, or are under common - control with that entity. For the purposes of this definition, - "control" means (i) the power, direct or indirect, to cause the - direction or management of such entity, whether by contract or - otherwise, or (ii) ownership of fifty percent (50%) or more of the - outstanding shares, or (iii) beneficial ownership of such entity. - - "You" (or "Your") shall mean an individual or Legal Entity - exercising permissions granted by this License. - - "Source" form shall mean the preferred form for making modifications, - including but not limited to software source code, documentation - source, and configuration files. - - "Object" form shall mean any form resulting from mechanical - transformation or translation of a Source form, including but - not limited to compiled object code, generated documentation, - and conversions to other media types. - - "Work" shall mean the work of authorship, whether in Source or - Object form, made available under the License, as indicated by a - copyright notice that is included in or attached to the work - (an example is provided in the Appendix below). - - "Derivative Works" shall mean any work, whether in Source or Object - form, that is based on (or derived from) the Work and for which the - editorial revisions, annotations, elaborations, or other modifications - represent, as a whole, an original work of authorship. For the purposes - of this License, Derivative Works shall not include works that remain - separable from, or merely link (or bind by name) to the interfaces of, - the Work and Derivative Works thereof. - - "Contribution" shall mean any work of authorship, including - the original version of the Work and any modifications or additions - to that Work or Derivative Works thereof, that is intentionally - submitted to Licensor for inclusion in the Work by the copyright owner - or by an individual or Legal Entity authorized to submit on behalf of - the copyright owner. For the purposes of this definition, "submitted" - means any form of electronic, verbal, or written communication sent - to the Licensor or its representatives, including but not limited to - communication on electronic mailing lists, source code control systems, - and issue tracking systems that are managed by, or on behalf of, the - Licensor for the purpose of discussing and improving the Work, but - excluding communication that is conspicuously marked or otherwise - designated in writing by the copyright owner as "Not a Contribution." - - "Contributor" shall mean Licensor and any individual or Legal Entity - on behalf of whom a Contribution has been received by Licensor and - subsequently incorporated within the Work. - - 2. Grant of Copyright License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - copyright license to reproduce, prepare Derivative Works of, - publicly display, publicly perform, sublicense, and distribute the - Work and such Derivative Works in Source or Object form. - - 3. Grant of Patent License. Subject to the terms and conditions of - this License, each Contributor hereby grants to You a perpetual, - worldwide, non-exclusive, no-charge, royalty-free, irrevocable - (except as stated in this section) patent license to make, have made, - use, offer to sell, sell, import, and otherwise transfer the Work, - where such license applies only to those patent claims licensable - by such Contributor that are necessarily infringed by their - Contribution(s) alone or by combination of their Contribution(s) - with the Work to which such Contribution(s) was submitted. If You - institute patent litigation against any entity (including a - cross-claim or counterclaim in a lawsuit) alleging that the Work - or a Contribution incorporated within the Work constitutes direct - or contributory patent infringement, then any patent licenses - granted to You under this License for that Work shall terminate - as of the date such litigation is filed. - - 4. Redistribution. You may reproduce and distribute copies of the - Work or Derivative Works thereof in any medium, with or without - modifications, and in Source or Object form, provided that You - meet the following conditions: - - (a) You must give any other recipients of the Work or - Derivative Works a copy of this License; and - - (b) You must cause any modified files to carry prominent notices - stating that You changed the files; and - - (c) You must retain, in the Source form of any Derivative Works - that You distribute, all copyright, patent, trademark, and - attribution notices from the Source form of the Work, - excluding those notices that do not pertain to any part of - the Derivative Works; and - - (d) If the Work includes a "NOTICE" text file as part of its - distribution, then any Derivative Works that You distribute must - include a readable copy of the attribution notices contained - within such NOTICE file, excluding those notices that do not - pertain to any part of the Derivative Works, in at least one - of the following places: within a NOTICE text file distributed - as part of the Derivative Works; within the Source form or - documentation, if provided along with the Derivative Works; or, - within a display generated by the Derivative Works, if and - wherever such third-party notices normally appear. The contents - of the NOTICE file are for informational purposes only and - do not modify the License. You may add Your own attribution - notices within Derivative Works that You distribute, alongside - or as an addendum to the NOTICE text from the Work, provided - that such additional attribution notices cannot be construed - as modifying the License. - - You may add Your own copyright statement to Your modifications and - may provide additional or different license terms and conditions - for use, reproduction, or distribution of Your modifications, or - for any such Derivative Works as a whole, provided Your use, - reproduction, and distribution of the Work otherwise complies with - the conditions stated in this License. - - 5. Submission of Contributions. Unless You explicitly state otherwise, - any Contribution intentionally submitted for inclusion in the Work - by You to the Licensor shall be under the terms and conditions of - this License, without any additional terms or conditions. - Notwithstanding the above, nothing herein shall supersede or modify - the terms of any separate license agreement you may have executed - with Licensor regarding such Contributions. - - 6. Trademarks. This License does not grant permission to use the trade - names, trademarks, service marks, or product names of the Licensor, - except as required for reasonable and customary use in describing the - origin of the Work and reproducing the content of the NOTICE file. - - 7. Disclaimer of Warranty. Unless required by applicable law or - agreed to in writing, Licensor provides the Work (and each - Contributor provides its Contributions) on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or - implied, including, without limitation, any warranties or conditions - of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A - PARTICULAR PURPOSE. You are solely responsible for determining the - appropriateness of using or redistributing the Work and assume any - risks associated with Your exercise of permissions under this License. - - 8. Limitation of Liability. In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - APPENDIX: How to apply the Apache License to your work. - - To apply the Apache License to your work, attach the following - boilerplate notice, with the fields enclosed by brackets "[]" - replaced with your own identifying information. (Don't include - the brackets!) The text should be enclosed in the appropriate - comment syntax for the file format. We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. diff --git a/openarm_bimanual_moveit_config/README.md b/openarm_bimanual_moveit_config/README.md deleted file mode 100644 index 5bcf31b..0000000 --- a/openarm_bimanual_moveit_config/README.md +++ /dev/null @@ -1,19 +0,0 @@ -# MoveIt2 on Bimanual Openarms - -Ensure the ROS2 packages and dependencies are installed by following the instructions in `openarm_ros2/README.md`. - -## Physical Hardware -1. Run `init_can.sh` from `openarm_bringup/utils`. - By default, can0 is the right arm and can1 is the left arm, but this can be adjusted in the ros2_control definition in `openarm_description/urdf/openarm.ros2_control.xacro`. - -2. Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles. - -```sh -ros2 launch openarm_bimanual_bringup depth_camera.launch.py -``` - -## Launch the demo - -```sh -ros2 launch openarm_bimanual_moveit_config demo.launch.py -``` diff --git a/openarm_bimanual_moveit_config/config/initial_positions.yaml b/openarm_bimanual_moveit_config/config/initial_positions.yaml deleted file mode 100644 index 4740b89..0000000 --- a/openarm_bimanual_moveit_config/config/initial_positions.yaml +++ /dev/null @@ -1,33 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Default initial positions for openarm_bimanual's ros2_control fake system - -initial_positions: - left_gripper: 0 - left_rev1: 0 - left_rev2: 0 - left_rev3: 0 - left_rev4: 0 - left_rev5: 0 - left_rev6: 0 - left_rev7: 0 - right_gripper: 0 - right_rev1: 0 - right_rev2: 0 - right_rev3: 0 - right_rev4: 0 - right_rev5: 0 - right_rev6: 0 - right_rev7: 0 diff --git a/openarm_bimanual_moveit_config/config/joint_limits.yaml b/openarm_bimanual_moveit_config/config/joint_limits.yaml deleted file mode 100644 index 69ce9b0..0000000 --- a/openarm_bimanual_moveit_config/config/joint_limits.yaml +++ /dev/null @@ -1,104 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed - -# 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: - left_gripper: - has_velocity_limits: true - max_velocity: 0.10000000000000001 - has_acceleration_limits: false - max_acceleration: 0 - left_rev1: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev2: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev3: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev4: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev5: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev6: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - left_rev7: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_gripper: - has_velocity_limits: true - max_velocity: 0.10000000000000001 - has_acceleration_limits: false - max_acceleration: 0 - right_rev1: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev2: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev3: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev4: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev5: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev6: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 - right_rev7: - has_velocity_limits: false - max_velocity: 0 - has_acceleration_limits: false - max_acceleration: 0 diff --git a/openarm_bimanual_moveit_config/config/kinematics.yaml b/openarm_bimanual_moveit_config/config/kinematics.yaml deleted file mode 100644 index 050f902..0000000 --- a/openarm_bimanual_moveit_config/config/kinematics.yaml +++ /dev/null @@ -1,34 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -left_arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 -left_side: - kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 -right_arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 -right_side: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 -upper_body: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 diff --git a/openarm_bimanual_moveit_config/config/moveit.rviz b/openarm_bimanual_moveit_config/config/moveit.rviz deleted file mode 100644 index 6afd61b..0000000 --- a/openarm_bimanual_moveit_config/config/moveit.rviz +++ /dev/null @@ -1,562 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -Panels: - - Class: rviz_common/Displays - Help Height: 70 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - - /MotionPlanning1/Planning Request1 - Splitter Ratio: 0.5 - Tree Height: 160 - - Class: rviz_common/Help - Name: Help - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Acceleration_Scaling_Factor: 0.1 - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Move Group Namespace: "" - MoveIt_Allow_Approximate_IK: false - MoveIt_Allow_External_Program: false - MoveIt_Allow_Replanning: false - MoveIt_Allow_Sensor_Positioning: false - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 5 - MoveIt_Use_Cartesian_Path: false - MoveIt_Use_Constraint_Aware_IK: false - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_accel_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_accel_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_bottom_screw_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_gyro_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_gyro_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra1_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra1_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra2_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra2_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_dummy_link: - Alpha: 1 - Show Axes: false - Show Trail: false - left_gripper_center: - Alpha: 1 - Show Axes: false - Show Trail: false - left_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link_left_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link_right_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pedestal_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_dummy_link: - Alpha: 1 - Show Axes: false - Show Trail: false - right_gripper_center: - Alpha: 1 - Show Axes: false - Show Trail: false - right_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link_left_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link_right_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Loop Animation: true - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: display_planned_path - Use Sim Time: false - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.07999999821186066 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.15000000596046448 - Joint Violation Color: 255; 0; 255 - Planning Group: upper_body - Query Goal State: true - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Scene Color: 50; 230; 50 - Scene Display Time: 0.009999999776482582 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_accel_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_accel_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_bottom_screw_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_gyro_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_gyro_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra1_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra1_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra2_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_infra2_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_dummy_link: - Alpha: 1 - Show Axes: false - Show Trail: false - left_gripper_center: - Alpha: 1 - Show Axes: false - Show Trail: false - left_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link_left_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_link_right_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pedestal_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_dummy_link: - Alpha: 1 - Show Axes: false - Show Trail: false - right_gripper_center: - Alpha: 1 - Show Axes: false - Show Trail: false - right_link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link_left_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_link_right_jaw: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Robot Alpha: 0.5 - Show Robot Collision: false - Show Robot Visual: true - Value: true - Velocity_Scaling_Factor: 0.1 - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.150280475616455 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.10000000149011612 - Y: 0.25 - Z: 0.30000001192092896 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5 - Target Frame: world - Value: Orbit (rviz_default_plugins) - Yaw: -0.6230000257492065 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 975 - Help: - collapsed: false - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000017d00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Views: - collapsed: false - Width: 1200 - X: 120 - Y: 27 diff --git a/openarm_bimanual_moveit_config/config/moveit_controllers.yaml b/openarm_bimanual_moveit_config/config/moveit_controllers.yaml deleted file mode 100644 index 676b2fe..0000000 --- a/openarm_bimanual_moveit_config/config/moveit_controllers.yaml +++ /dev/null @@ -1,61 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# MoveIt uses this configuration for controller management - -moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager - -moveit_simple_controller_manager: - controller_names: - - left_arm_controller - - right_arm_controller - - left_gripper_controller - - right_gripper_controller - - left_arm_controller: - type: FollowJointTrajectory - joints: - - left_rev1 - - left_rev2 - - left_rev3 - - left_rev4 - - left_rev5 - - left_rev6 - - left_rev7 - action_ns: follow_joint_trajectory - default: true - right_arm_controller: - type: FollowJointTrajectory - joints: - - right_rev1 - - right_rev2 - - right_rev3 - - right_rev4 - - right_rev5 - - right_rev6 - - right_rev7 - action_ns: follow_joint_trajectory - default: true - left_gripper_controller: - type: GripperCommand - joints: - - left_gripper - action_ns: gripper_cmd - default: true - right_gripper_controller: - type: GripperCommand - joints: - - right_gripper - action_ns: gripper_cmd - default: true diff --git a/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf b/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf deleted file mode 100644 index e2b3f30..0000000 --- a/openarm_bimanual_moveit_config/config/openarm_bimanual.srdf +++ /dev/null @@ -1,456 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro b/openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro deleted file mode 100644 index c87d773..0000000 --- a/openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml b/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml deleted file mode 100644 index 38b142a..0000000 --- a/openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml +++ /dev/null @@ -1,20 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Limits for the Pilz planner -cartesian_limits: - max_trans_vel: 1.0 - max_trans_acc: 2.25 - max_trans_dec: -5.0 - max_rot_vel: 1.57 diff --git a/openarm_bimanual_moveit_config/config/ros2_controllers.yaml b/openarm_bimanual_moveit_config/config/ros2_controllers.yaml deleted file mode 100644 index 3a18e76..0000000 --- a/openarm_bimanual_moveit_config/config/ros2_controllers.yaml +++ /dev/null @@ -1,147 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# This config file is used by ros2_control -controller_manager: - ros__parameters: - update_rate: 100 # Hz - - left_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - right_arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - left_gripper_controller: - type: position_controllers/GripperActionController - - - right_gripper_controller: - type: position_controllers/GripperActionController - - - left_side_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - right_side_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - upper_body_controller: - type: joint_trajectory_controller/JointTrajectoryController - - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - -left_arm_controller: - ros__parameters: - joints: - - left_rev1 - - left_rev2 - - left_rev3 - - left_rev4 - - left_rev5 - - left_rev6 - - left_rev7 - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity -right_arm_controller: - ros__parameters: - joints: - - right_rev1 - - right_rev2 - - right_rev3 - - right_rev4 - - right_rev5 - - right_rev6 - - right_rev7 - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity -left_gripper_controller: - ros__parameters: - joint: left_gripper -right_gripper_controller: - ros__parameters: - joint: right_gripper -left_side_controller: - ros__parameters: - joints: - - left_rev1 - - left_rev2 - - left_rev3 - - left_rev4 - - left_rev5 - - left_rev6 - - left_rev7 - - left_gripper - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity -right_side_controller: - ros__parameters: - joints: - - right_rev1 - - right_rev2 - - right_rev3 - - right_rev4 - - right_rev5 - - right_rev6 - - right_rev7 - - right_gripper - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity -upper_body_controller: - ros__parameters: - joints: - - left_rev1 - - left_rev2 - - left_rev3 - - left_rev4 - - left_rev5 - - left_rev6 - - left_rev7 - - left_gripper - - right_rev1 - - right_rev2 - - right_rev3 - - right_rev4 - - right_rev5 - - right_rev6 - - right_rev7 - - right_gripper - command_interfaces: - - position - - velocity - state_interfaces: - - position - - velocity diff --git a/openarm_bimanual_moveit_config/config/sensors_3d.yaml b/openarm_bimanual_moveit_config/config/sensors_3d.yaml deleted file mode 100644 index 048fbc5..0000000 --- a/openarm_bimanual_moveit_config/config/sensors_3d.yaml +++ /dev/null @@ -1,37 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -sensors: - - default_sensor - - kinect_depthimage -default_sensor: - filtered_cloud_topic: filtered_cloud - max_range: 5.0 - max_update_rate: 1.0 - padding_offset: 0.1 - padding_scale: 1.0 - point_cloud_topic: /camera/camera/depth/color/points - point_subsample: 1 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -kinect_depthimage: - far_clipping_plane_distance: 5.0 - filtered_cloud_topic: filtered_cloud - image_topic: /head_mount_kinect/depth_registered/image_raw - max_update_rate: 1.0 - near_clipping_plane_distance: 0.3 - padding_offset: 0.03 - padding_scale: 4.0 - queue_size: 5 - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - shadow_threshold: 0.2 diff --git a/openarm_bimanual_moveit_config/launch/demo.launch.py b/openarm_bimanual_moveit_config/launch/demo.launch.py deleted file mode 100644 index 08d8b80..0000000 --- a/openarm_bimanual_moveit_config/launch/demo.launch.py +++ /dev/null @@ -1,66 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_demo_launch -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "hardware_type", - default_value="real", - description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable writable sensor interfaces when using mock hardware", - ) - ) - - hardware_type = LaunchConfiguration("hardware_type") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - - moveit_config = ( - MoveItConfigsBuilder("openarm_bimanual", - package_name="openarm_bimanual_moveit_config") - .robot_description( - file_path="config/openarm_bimanual.urdf.xacro", - mappings={ - "hardware_type": hardware_type, - "mock_sensor_commands": mock_sensor_commands, - }, - ) - .to_moveit_configs() - ) - - demo_ld = generate_demo_launch(moveit_config) - - ld = LaunchDescription() - - for arg in declared_arguments: - ld.add_action(arg) - - for entity in demo_ld.entities: - ld.add_action(entity) - - return ld diff --git a/openarm_bimanual_moveit_config/launch/move_group.launch.py b/openarm_bimanual_moveit_config/launch/move_group.launch.py deleted file mode 100644 index 1ea72bf..0000000 --- a/openarm_bimanual_moveit_config/launch/move_group.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_move_group_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_move_group_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py b/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py deleted file mode 100644 index 6ba122d..0000000 --- a/openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_moveit_rviz_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_moveit_rviz_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/rsp.launch.py b/openarm_bimanual_moveit_config/launch/rsp.launch.py deleted file mode 100644 index 72beea6..0000000 --- a/openarm_bimanual_moveit_config/launch/rsp.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_rsp_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_rsp_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py b/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py deleted file mode 100644 index fc158b4..0000000 --- a/openarm_bimanual_moveit_config/launch/setup_assistant.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_setup_assistant_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_setup_assistant_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py b/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py deleted file mode 100644 index 95c7565..0000000 --- a/openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_spawn_controllers_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_spawn_controllers_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py b/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py deleted file mode 100644 index 6cfa2e7..0000000 --- a/openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_static_virtual_joint_tfs_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py b/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py deleted file mode 100644 index 5886bb7..0000000 --- a/openarm_bimanual_moveit_config/launch/warehouse_db.launch.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2025 Reazon Holdings, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from moveit_configs_utils import MoveItConfigsBuilder -from moveit_configs_utils.launches import generate_warehouse_db_launch - - -def generate_launch_description(): - moveit_config = MoveItConfigsBuilder( - "openarm_bimanual", package_name="openarm_bimanual_moveit_config" - ).to_moveit_configs() - return generate_warehouse_db_launch(moveit_config) diff --git a/openarm_bimanual_moveit_config/package.xml b/openarm_bimanual_moveit_config/package.xml deleted file mode 100644 index 40ac99d..0000000 --- a/openarm_bimanual_moveit_config/package.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - - - openarm_bimanual_moveit_config - 1.0.0 - - An automatically generated package with all the configuration and launch files for using the openarm_bimanual with the MoveIt Motion Planning Framework - - Thomason Zhou - - Apache-2.0 - - http://moveit.ros.org/ - https://github.com/ros-planning/moveit2/issues - https://github.com/ros-planning/moveit2 - - Thomason Zhou - - ament_cmake - - moveit_ros_move_group - moveit_kinematics - moveit_planners - moveit_simple_controller_manager - joint_state_publisher - joint_state_publisher_gui - tf2_ros - xacro - - - - controller_manager - moveit_configs_utils - moveit_ros_move_group - moveit_ros_visualization - moveit_ros_perception - moveit_setup_assistant - openarm_bimanual_description - robot_state_publisher - ros2_control - ros2_controllers - rviz2 - rviz_common - rviz_default_plugins - tf2_ros - - - - ament_cmake - -