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Add cameraD455 mesh file to iiwa_description resources

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Даниил Грабарь
2026-04-10 17:15:16 +10:00
parent 2eb87077dd
commit 6d8d15ba5d
16 changed files with 7068 additions and 188 deletions
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src/iiwa_config/config/moveit/iiwa7.srdf
+21
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@@ -20,6 +20,8 @@
<joint name="joint7"/>
<joint name="tools_joint"/>
<joint name="tool"/>
<joint name="cameraHolder_patron"/>
<joint name="cameraHolder_cameraD455"/>
</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="home" group="iiwa_arm">
@@ -75,4 +77,23 @@
<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
<disable_collisions link1="link6" link2="patron" reason="Never"/>
<disable_collisions link1="link7" link2="patron" reason="Adjacent"/>
<disable_collisions link1="link7" link2="camera_holder" reason="Adjacent"/>
<disable_collisions link1="link6" link2="camera_holder" reason="Never"/>
<disable_collisions link1="link5" link2="camera_holder" reason="Never"/>
<disable_collisions link1="link4" link2="camera_holder" reason="Never"/>
<disable_collisions link1="link3" link2="camera_holder" reason="Never"/>
<disable_collisions link1="link2" link2="camera_holder" reason="Never"/>
<disable_collisions link1="link1" link2="camera_holder" reason="Never"/>
<disable_collisions link1="base_link" link2="camera_holder" reason="Never"/>
<disable_collisions link1="camera_holder" link2="patron" reason="Adjacent"/>
<disable_collisions link1="camera_hand" link2="camera_holder" reason="Adjacent"/>
<disable_collisions link1="camera_hand" link2="patron" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link7" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link6" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link5" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link4" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link3" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link2" reason="Never"/>
<disable_collisions link1="camera_hand" link2="link1" reason="Never"/>
<disable_collisions link1="camera_hand" link2="base_link" reason="Never"/>
</robot>