- 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.
- Deleted obsolete `test_motion_sequence.py` file.
- Updated `setup.py` to remove references to the old test script and motion configuration file.
- Added `motion_sequence_config.json` to define home position and waypoints for the robot.
- Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
- Deleted `system_interface_type_values.hpp`, `package.xml`, `fri_client.cpp`, and `system_interface.cpp` as part of the cleanup process.
- Updated `iiwa7.urdf.xacro` to remove deprecated parameters and adjust command interface settings.
- Modified joint definitions in `joints.xacro` to include new friction and soft limit parameters.
- Enhanced `macros.xacro` to support additional joint properties for friction and safety control.
- Adjusted mass properties in `params.xacro` to reflect accurate values for the robot's components.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface.
- Created command_guard.hpp to enforce joint limits for position and torque commands.
- Developed fri_client.hpp and fri_client.cpp to manage FRI communication and state snapshots.
- Implemented system_interface.hpp and system_interface.cpp for lifecycle management and command handling.
- Added system_interface_type_values.hpp for extended state interface names.
- Defined package.xml for ROS2 integration with necessary dependencies.
Даниил Грабарь