From 5c97a61e9e8a02ca7f1fe08df48ac4ff1b03871a Mon Sep 17 00:00:00 2001 From: Robert Haschke <rhaschke@users.noreply.github.com> Date: Tue, 18 Feb 2020 22:07:04 +0100 Subject: [PATCH] Use predefined robot states from melodic-devel (#52) Define poses ready, extended, open, close as in melodic-devel branch. --- config/fake_controllers.yaml | 4 +++- config/panda_arm.xacro | 9 +++++++++ config/panda_arm_hand.srdf.xacro | 16 +++++++--------- 3 files changed, 19 insertions(+), 10 deletions(-) diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml index 619aa5d..111ff4c 100644 --- a/config/fake_controllers.yaml +++ b/config/fake_controllers.yaml @@ -13,5 +13,7 @@ controller_list: - panda_finger_joint1 - panda_finger_joint2 initial: - - group: panda_arm_hand + - group: panda_arm pose: ready + - group: hand + pose: open diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro index 092b68f..9232a30 100644 --- a/config/panda_arm.xacro +++ b/config/panda_arm.xacro @@ -19,6 +19,15 @@ <joint name="panda_joint6" value="1.571" /> <joint name="panda_joint7" value="0.785" /> </group_state> + <group_state name="extended" group="panda_arm"> + <joint name="panda_joint1" value="0" /> + <joint name="panda_joint2" value="0" /> + <joint name="panda_joint3" value="0" /> + <joint name="panda_joint4" value="0" /> + <joint name="panda_joint5" value="0" /> + <joint name="panda_joint6" value="0" /> + <joint name="panda_joint7" value="0.785" /> + </group_state> <!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" /> diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro index 39f7db9..803cd37 100644 --- a/config/panda_arm_hand.srdf.xacro +++ b/config/panda_arm_hand.srdf.xacro @@ -17,15 +17,13 @@ <group name="panda_arm" /> <group name="hand" /> </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'--> - <group_state name="ready" group="panda_arm_hand"> - <joint name="panda_joint1" value="0" /> - <joint name="panda_joint2" value="-0.785" /> - <joint name="panda_joint3" value="0" /> - <joint name="panda_joint4" value="-2.356" /> - <joint name="panda_joint5" value="0" /> - <joint name="panda_joint6" value="1.571" /> - <joint name="panda_joint7" value="0.785" /> + <group_state name="open" group="hand"> + <joint name="panda_finger_joint1" value="0.035" /> + <joint name="panda_finger_joint2" value="0.035" /> + </group_state> + <group_state name="close" group="hand"> + <joint name="panda_finger_joint1" value="0" /> + <joint name="panda_finger_joint2" value="0" /> </group_state> <!--END EFFECTOR: Purpose: Represent information about an end effector.--> <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" /> -- GitLab