Moveit configurations packages for robots supported by T.O.U.G.H.
- This repository contains configuration packages for Atlas and Vakyrie robots using MoveIt!
| Move-groups | Joints | Chain |
|---|---|---|
| L_PELVIS_PALM_10DOF | world_pelvis_virtual_joint, back_bkz, back_bky, back_bkx, l_arm_shz, l_arm_shx, l_arm_ely, l_arm_elx, l_arm_wry, l_arm_wrx, l_arm_wry2, l_robotiq_hand_joint, l_robotiq_end_eff_virtual_joint | pelvis -> l_end_eff |
| R_PELVIS_PALM_10DOF | world_pelvis_virtual_joint back_bkz, back_bky, back_bkx, r_arm_shz, r_arm_shx, r_arm_ely, r_arm_elx, r_arm_wry, r_arm_wrx, r_arm_wry2, r_robotiq_hand_joint, l_robotiq_end_eff_virtual_joint | pelvis -> r_end_eff |
| L_SHOULDER_HAND_7DOF | l_arm_shz, ..., l_robotiq_end_eff_virtual_joint | l_clav -> l_end_eff |
| R_SHOULDER_HAND_7DOF | r_arm_shz, ..., l_robotiq_end_eff_virtual_joint | r_clav -> r_end_eff |
| Move-groups | Joints | Chain |
|---|---|---|
| L_PELVIS_PALM_10DOF | torsoYaw, torsoPitch, torsoRoll, leftShoulderPitch, leftShoulderRoll, leftShoulderYaw, leftElbowPitch, leftForearmYaw, leftWristRoll, leftWristPitch, leftMiddleFingerPitch1 | pelvis -> leftMiddleFingerPitch1Link |
| R_PELVIS_PALM_10DOF | torsoYaw, torsoPitch, torsoRoll, rightShoulderPitch, rightShoulderRoll, rightShoulderYaw, rightElbowPitch, rightForearmYaw, rightWristRoll, rightWristPitch, rightMiddleFingerPitch1 | pelvis -> rightMiddleFingerPitch1Link |
| L_SHOULDER_HAND_7DOF | leftShoulderPitch, ..., leftMiddleFingerPitch1 | leftShoulderPitchLink -> leftMiddleFingerPitch1Link |
| R_SHOULDER_HAND_7DOF | rightShoulderPitch, ..., rightMiddleFingerPitch1 | rightShoulderPitchLink -> rightMiddleFingerPitch1Link |
*Development in progress
For a standalone execution of these packages use following commands in your terminal:
This command will launch the move_group planners and will also launch RViz for the visualization of the generated trajectory.
roslaunch atlas_moveit_config atlas_moveit_planner_rviz.launch
If you dont want the rviz to get launched, use following command
roslaunch atlas_moveit_config atlas_moveit_planner.launch
roslaunch valkyrie_moveit_config demo.launch
After launching the moveit_planners of the robot (atlas or valkyrie), you can start planning with the help of either T.O.U.G.H. or MoveIt!