From 58b5ba842977f1fb469aac142a8c5873caa358c4 Mon Sep 17 00:00:00 2001
From: rethink-kmaroney <kmaroney@rethinkrobotics.com>
Date: Mon, 11 Nov 2013 13:40:13 -0500
Subject: [PATCH 1/3] Updates baxter_controllers to 0.7 ns for
 joint_trajectory_action_server. Updates srdf to include new joint/link
 left/right_gripper_base.

---
 .../baxter_moveit_config/config/baxter.srdf   | 22 +++++++++++++++++++
 .../config/baxter_controllers.yaml            |  4 ++--
 2 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/baxter/baxter_moveit_config/config/baxter.srdf b/baxter/baxter_moveit_config/config/baxter.srdf
index a182d5b4..63791118 100644
--- a/baxter/baxter_moveit_config/config/baxter.srdf
+++ b/baxter/baxter_moveit_config/config/baxter.srdf
@@ -18,6 +18,7 @@
         <joint name="left_w1" />
         <joint name="left_w2" />
         <joint name="left_hand" />
+        <joint name="left_gripper_base" />
         <joint name="left_endpoint" />
     </group>
     <group name="right_arm">
@@ -29,6 +30,7 @@
         <joint name="right_w1" />
         <joint name="right_w2" />
         <joint name="right_hand" />
+        <joint name="right_gripper_base" />
         <joint name="right_endpoint" />
     </group>
     <group name="both_arms">
@@ -36,9 +38,13 @@
         <group name="left_arm" />
     </group>
     <group name="left_hand">
+        <link name="left_hand" />
+        <link name="left_gripper_base" />
         <link name="left_gripper" />
     </group>
     <group name="right_hand">
+        <link name="right_hand" />
+        <link name="right_gripper_base" />
         <link name="right_gripper" />
     </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'-->
@@ -119,6 +125,7 @@
     <disable_collisions link1="left_gripper" link2="screen" reason="Never" />
     <disable_collisions link1="left_gripper" link2="sonar_ring" reason="Never" />
     <disable_collisions link1="left_gripper" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_hand" link2="left_gripper_base" reason="Adjacent" />
     <disable_collisions link1="left_hand" link2="left_hand_camera" reason="Adjacent" />
     <disable_collisions link1="left_hand" link2="left_hand_range" reason="Adjacent" />
     <disable_collisions link1="left_hand" link2="left_lower_elbow" reason="Never" />
@@ -145,6 +152,7 @@
     <disable_collisions link1="left_hand_range" link2="left_lower_forearm" reason="Never" />
     <disable_collisions link1="left_hand_range" link2="left_upper_elbow_visual" reason="Never" />
     <disable_collisions link1="left_hand_range" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="left_wrist" link2="left_gripper_base" reason="Never" />
     <disable_collisions link1="left_wrist" link2="left_upper_forearm" reason="Never" />
     <disable_collisions link1="left_wrist" link2="left_upper_forearm_visual" reason="Never" />
     <disable_collisions link1="left_wrist" link2="pedestal" reason="Never" />
@@ -211,12 +219,24 @@
     <disable_collisions link1="left_upper_shoulder" link2="screen" reason="Never" />
     <disable_collisions link1="left_upper_shoulder" link2="sonar_ring" reason="Never" />
     <disable_collisions link1="left_upper_shoulder" link2="torso" reason="Adjacent" />
+    <disable_collisions link1="pedestal" link2="right_gripper_base" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_hand_camera" reason="Default" />
+    <disable_collisions link1="pedestal" link2="right_hand_range" reason="Default" />
     <disable_collisions link1="pedestal" link2="right_lower_elbow" reason="Default" />
     <disable_collisions link1="pedestal" link2="right_lower_shoulder" reason="Never" />
     <disable_collisions link1="pedestal" link2="right_upper_elbow" reason="Never" />
     <disable_collisions link1="pedestal" link2="right_upper_forearm" reason="Never" />
     <disable_collisions link1="pedestal" link2="right_upper_forearm_visual" reason="Default" />
     <disable_collisions link1="pedestal" link2="right_upper_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_gripper_base" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_hand_camera" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_hand_range" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_lower_elbow" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_lower_shoulder" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_elbow" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_forearm" reason="Never" />
+    <disable_collisions link1="pedestal" link2="left_upper_forearm_visual" reason="Default" />
+    <disable_collisions link1="pedestal" link2="left_upper_shoulder" reason="Never" />
     <disable_collisions link1="pedestal" link2="screen" reason="Never" />
     <disable_collisions link1="pedestal" link2="sonar_ring" reason="Never" />
     <disable_collisions link1="pedestal" link2="torso" reason="Adjacent" />
@@ -233,6 +253,7 @@
     <disable_collisions link1="right_gripper" link2="screen" reason="Never" />
     <disable_collisions link1="right_gripper" link2="sonar_ring" reason="Never" />
     <disable_collisions link1="right_gripper" link2="pedestal" reason="Never" />
+    <disable_collisions link1="right_hand" link2="right_gripper_base" reason="Adjacent" />
     <disable_collisions link1="right_hand" link2="right_hand_camera" reason="Adjacent" />
     <disable_collisions link1="right_hand" link2="right_hand_range" reason="Adjacent" />
     <disable_collisions link1="right_hand" link2="right_lower_elbow" reason="Never" />
@@ -256,6 +277,7 @@
     <disable_collisions link1="right_hand_range" link2="right_upper_elbow" reason="Never" />
     <disable_collisions link1="right_hand_range" link2="right_upper_elbow_visual" reason="Never" />
     <disable_collisions link1="right_hand_range" link2="right_upper_forearm" reason="Never" />
+    <disable_collisions link1="right_wrist" link2="right_gripper_base" reason="Never" />
     <disable_collisions link1="right_wrist" link2="right_upper_forearm" reason="Never" />
     <disable_collisions link1="right_wrist" link2="right_upper_forearm_visual" reason="Never" />
     <disable_collisions link1="right_wrist" link2="pedestal" reason="Never" />
diff --git a/baxter/baxter_moveit_config/config/baxter_controllers.yaml b/baxter/baxter_moveit_config/config/baxter_controllers.yaml
index c32fa648..b62ba46c 100644
--- a/baxter/baxter_moveit_config/config/baxter_controllers.yaml
+++ b/baxter/baxter_moveit_config/config/baxter_controllers.yaml
@@ -1,5 +1,5 @@
 controller_list:
-  - name: /sdk/robot/limb/right
+  - name: /robot/limb/right
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: true
@@ -11,7 +11,7 @@ controller_list:
       - right_w0
       - right_w1
       - right_w2
-  - name: /sdk/robot/limb/left
+  - name: /robot/limb/left
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: true

From f6d206c49409f0fcb4ceb9f5478db91e997385c5 Mon Sep 17 00:00:00 2001
From: rethink-kmaroney <kmaroney@rethinkrobotics.com>
Date: Mon, 18 Nov 2013 18:55:04 -0500
Subject: [PATCH 2/3] Updating joint_limits maximum joint speeds.

---
 .../config/joint_limits.yaml                  | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/baxter/baxter_moveit_config/config/joint_limits.yaml b/baxter/baxter_moveit_config/config/joint_limits.yaml
index a3f8f659..67fb859c 100644
--- a/baxter/baxter_moveit_config/config/joint_limits.yaml
+++ b/baxter/baxter_moveit_config/config/joint_limits.yaml
@@ -1,32 +1,32 @@
 joint_limits:
   left_e0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_e1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_s0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_s1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_w0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.3
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_w1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.3
     has_acceleration_limits: true
     max_acceleration: 0.5
   left_w2:
@@ -36,32 +36,32 @@ joint_limits:
     max_acceleration: 0.5
   right_e0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_e1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_s0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_s1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.27
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_w0:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.3
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_w1:
     has_velocity_limits: true
-    max_velocity: 0.5
+    max_velocity: 0.3
     has_acceleration_limits: true
     max_acceleration: 0.5
   right_w2:

From e981756b6320e819800916adcc70f433812bdf7e Mon Sep 17 00:00:00 2001
From: rethink-kmaroney <kmaroney@rethinkrobotics.com>
Date: Tue, 19 Nov 2013 17:47:24 -0500
Subject: [PATCH 3/3] Adds srdf collision ignore for
 torso->upper_forearm_visual.

---
 baxter/baxter_moveit_config/config/baxter.srdf | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/baxter/baxter_moveit_config/config/baxter.srdf b/baxter/baxter_moveit_config/config/baxter.srdf
index 63791118..f19fae8a 100644
--- a/baxter/baxter_moveit_config/config/baxter.srdf
+++ b/baxter/baxter_moveit_config/config/baxter.srdf
@@ -210,6 +210,7 @@
     <disable_collisions link1="left_upper_forearm" link2="left_upper_forearm_visual" reason="Default" />
     <disable_collisions link1="left_upper_forearm" link2="left_wrist" reason="Never" />
     <disable_collisions link1="left_upper_forearm" link2="pedestal" reason="Never" />
+    <disable_collisions link1="left_upper_forearm_visual" link2="torso" reason="Never" />
     <disable_collisions link1="left_upper_shoulder" link2="pedestal" reason="Never" />
     <disable_collisions link1="left_upper_shoulder" link2="right_lower_elbow" reason="Never" />
     <disable_collisions link1="left_upper_shoulder" link2="right_lower_shoulder" reason="Never" />
@@ -319,6 +320,7 @@
     <disable_collisions link1="right_upper_elbow_visual" link2="pedestal" reason="Never" />
     <disable_collisions link1="right_upper_forearm" link2="right_upper_forearm_visual" reason="Default" />
     <disable_collisions link1="right_upper_forearm" link2="right_wrist" reason="Never" />
+    <disable_collisions link1="right_upper_forearm_visual" link2="torso" reason="Never" />
     <disable_collisions link1="right_upper_shoulder" link2="screen" reason="Never" />
     <disable_collisions link1="right_upper_shoulder" link2="sonar_ring" reason="Never" />
     <disable_collisions link1="right_upper_shoulder" link2="torso" reason="Adjacent" />