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Refactor tool management and update robot configuration

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- Updated iiwa7.srdf to streamline group and end effector definitions, removing unnecessary joint specifications.
- Enhanced setting.yaml to include active tool configuration.
- Removed deprecated gripper URDF and Xacro files, consolidating tool definitions into tools.yaml.
- Introduced tool_manager.py for dynamic tool management, allowing for easy updates to active tools and collision settings.
- Created tool_active.xacro to reflect the currently active tool in the robot's URDF.
- Added comprehensive collision management for the new tool configurations.
This commit is contained in:
Даниил Грабарь
2026-06-03 14:03:44 +10:00
parent 9f9fb24dc3
commit 36fa33b032
15 changed files with 364 additions and 422 deletions
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src/iiwa_description/urdf/iiwa7.urdf.xacro
+1 -1
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@@ -17,7 +17,7 @@
<xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/tools/tool_active.xacro"/>
<xacro:if value="$(arg simulate)">