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Moveitpy ur #837

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01769cd
Motion planning tutorial for UR
Mennosytsma Nov 2, 2023
de38dcd
add gif showing demo of tutorial
Mennosytsma Nov 2, 2023
d952a37
Merge branch 'main' into moveitpy_ur
Mennosytsma Dec 11, 2023
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1 change: 1 addition & 0 deletions doc/examples/motion_planning_python_api/CMakeLists.txt
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Original file line number Diff line number Diff line change
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install(PROGRAMS
scripts/motion_planning_python_api_tutorial.py
scripts/motion_planning_python_api_tutorial_ur.py
scripts/motion_planning_python_api_planning_scene.py
DESTINATION lib/${PROJECT_NAME}
)
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7 changes: 7 additions & 0 deletions doc/examples/motion_planning_python_api/config/pilz_cartesian_limits.yaml
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# Source: https://github.com/ros-planning/moveit_resources/blob/3d6a737f95fb7e5f3cfdc306d12b0bb6cbdadfb2/panda_moveit_config/config/pilz_cartesian_limits.yaml
# Cartesian 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
5 changes: 5 additions & 0 deletions doc/examples/motion_planning_python_api/config/ur_kinematics.yaml
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ur_manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
Binary file added ...examples/motion_planning_python_api/docs/motion_planning_python_tutorial_UR.gif
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