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feat: add support for named positions in robot API, including new endpoints and metadata

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Даниил Грабарь
2026-06-03 13:19:13 +10:00
parent 75d2c499b2
commit e9e3163ce6
6 changed files with 140 additions and 2 deletions
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src/iiwa_config/config/moveit/iiwa7.srdf
+9
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@@ -45,6 +45,15 @@
<joint name="joint6" value="1.57"/>
<joint name="joint7" value="0"/>
</group_state>
<group_state name="transport" group="iiwa_arm">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0.436"/>
<joint name="joint3" value="0"/>
<joint name="joint4" value="1.57"/>
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
<joint name="joint7" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="patron" parent_link="patron" group="iiwa_arm"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->