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Configure ada_moveit for Articulable Fork #54

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Configure ada_moveit for Articulable Fork #54

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2d8ac13
Add ros2_control block for Articulable Fork, and initial positions
jjaime2 Nov 13, 2024
2f9129a
Add Articulable Fork info to SRDF
jjaime2 Nov 13, 2024
e6d962e
Add Articulable Fork mock controllers
jjaime2 Nov 13, 2024
8e0769a
Add af_ros2_control and fix readonly param
jjaime2 Nov 13, 2024
7e876aa
Fix indentation
jjaime2 Nov 13, 2024
3bb0bc9
Fix namespace conflict by renaming ada_hardware::DynamixelHardware to…
jjaime2 Nov 14, 2024
e7fa968
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Nov 14, 2024
1ab1440
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Nov 14, 2024
301926f
Add PickIK kinematics solver for articulable_fork group
jjaime2 Nov 14, 2024
7907726
Add OMPL planner for Articulable Fork
jjaime2 Nov 15, 2024
678d95d
Add af_velocity_controller and af_joint_trajectory_controller, add hy…
jjaime2 Nov 17, 2024
1e243d2
Change mock controllers for AF
jjaime2 Nov 17, 2024
b50e25a
Add planning group for ADA + AF end-to-end control
jjaime2 Nov 18, 2024
bfb28ee
Add spacing
jjaime2 Nov 20, 2024
d3f4391
Add mock jaco_af_controller and jaco_af_cartesian_controller
jjaime2 Nov 20, 2024
f9ec2af
Rename move group all to jaco_af
jjaime2 Nov 20, 2024
2b17d17
Add jaco_af OMPL planning
jjaime2 Nov 20, 2024
926943f
Add jaco_af PickIkPlugin
jjaime2 Nov 24, 2024
3d3c8cd
Change Jaco+AF cartesian controller to damped least squares, Remove o…
jjaime2 Nov 24, 2024
4f2396f
Use Jaco+AF move group for mock servo control
jjaime2 Nov 24, 2024
c414d0e
Add Jaco+AF MoveIt2 controllers, Remove old AF MoveIt2 controllers
jjaime2 Nov 24, 2024
3a98276
Use Jaco+AF move group for real servo control
jjaime2 Nov 24, 2024
d851430
Use Jaco+AF cartesian control for keyboard tele-op
jjaime2 Nov 24, 2024
e537c76
Add AF joints to servo republisher
jjaime2 Nov 24, 2024
eb8d630
Add real Jaco+AF controllers
jjaime2 Nov 24, 2024
8054301
Update to selectively_damped_least_squares
jjaime2 Nov 25, 2024
507a530
Update hybrid_controllers
jjaime2 Nov 25, 2024
260e945
Add hybrid servo yaml file
jjaime2 Nov 27, 2024
fb7b8c5
Add OverPlate configuration
jjaime2 Nov 29, 2024
32b4ddb
Add script to command twists
jjaime2 Nov 29, 2024
1a43bf9
Add OverPlate configuration to initial positions
jjaime2 Nov 29, 2024
a8aea27
Add frame_id argument to ada_twist_teleop
jjaime2 Dec 2, 2024
ebc95f3
TEMP: Set default velocity scaling factor to 1.0
jjaime2 Dec 7, 2024
a402eec
Remove jaco_af controllers, add af controllers
jjaime2 Dec 7, 2024
2fda537
Update MoveIt controllers to use af controllers
jjaime2 Dec 7, 2024
0e5f8bc
Update OMPL planners to use articulable_fork move group
jjaime2 Dec 7, 2024
adcf2a2
Remove af_cartesian_controller
jjaime2 Dec 7, 2024
197dfcc
Revert to using jaco_arm_cartesian_controller for keyboard tele-op
jjaime2 Dec 9, 2024
80c710f
Fix typo in jaco_arm_servo_controller
jjaime2 Dec 9, 2024
477a47d
Remove articulable_fork.launch.py
jjaime2 Dec 9, 2024
45be0b4
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Dec 12, 2024
4d3b048
Cleanup
jjaime2 Dec 12, 2024
062356b
Add configuration for end_effector_tool
jjaime2 Dec 13, 2024
3ba9ae2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/arti…
jjaime2 Dec 14, 2024
ed730e0
Use updated ada macro
jjaime2 Dec 14, 2024
b6821e2
Update launch files to enable end_effector_tool parameterization
jjaime2 Dec 15, 2024
0fae939
Rename jaco_af move group to ada
jjaime2 Dec 16, 2024
e0e18c9
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Dec 18, 2024
69d0976
Disable collision between af_link_base and forkHandle
jjaime2 Dec 18, 2024
ef1592b
Run pre-commit
jjaime2 Dec 18, 2024
669aa7d
Only load Dynamixel hardware interface if end_effector_tool is set to…
jjaime2 Dec 20, 2024
8852f74
Revert "Only load Dynamixel hardware interface if end_effector_tool i…
jjaime2 Dec 20, 2024
a902c0b
Configure semantic robot description with end_effector_tool
jjaime2 Dec 20, 2024
40a4a66
Change IMU serial port to /dev/ttyUSB1 to avoid conflict with Articul…
jjaime2 Jan 14, 2025
5b6a167
Merge branch 'main' into jjaime2/articulable_fork_moveit
jjaime2 Jan 14, 2025
2f9bc66
Remove end_effector_tool choice none since controlling the ada move g…
jjaime2 Jan 15, 2025
6eacdd7
Remove redundant list of choices in end_effector_tool launch argument
jjaime2 Jan 15, 2025
b83256a
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Jan 15, 2025
311e409
Address pylint warnings
jjaime2 Jan 15, 2025
7301d24
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
jjaime2 Jan 29, 2025
219f0ff
Remove base_parent argument when instantiating ada macro
jjaime2 Jan 29, 2025
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Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl… 
…e_fork_moveit
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jjaime2 committed Jan 29, 2025
commit 7301d24f400d1c887c162e25cf1b8aaa8f459159

This merge commit was added into this branch cleanly.

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