Даниил Грабарь
36fa33b032
- 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.
103 lines
5.8 KiB
XML
103 lines
5.8 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!-- AUTO-GENERATED by cobot robot-setup — do not edit manually -->
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<robot name="iiwa7">
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<group name="iiwa_arm">
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<chain base_link="base_link" tip_link="patron"/>
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</group>
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<group_state name="home" group="iiwa_arm">
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<joint name="joint1" value="0"/>
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<joint name="joint2" value="0"/>
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<joint name="joint3" value="0"/>
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<joint name="joint4" value="0"/>
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<joint name="joint5" value="0"/>
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<joint name="joint6" value="0"/>
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<joint name="joint7" value="0"/>
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</group_state>
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<group_state name="work" group="iiwa_arm">
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<joint name="joint1" value="0"/>
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<joint name="joint2" value="0"/>
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<joint name="joint3" value="0"/>
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<joint name="joint4" value="-1.57"/>
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<joint name="joint5" value="0"/>
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<joint name="joint6" value="1.57"/>
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<joint name="joint7" value="0"/>
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</group_state>
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<group_state name="transport" group="iiwa_arm">
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<joint name="joint1" value="0"/>
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<joint name="joint2" value="0.436"/>
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<joint name="joint3" value="0"/>
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<joint name="joint4" value="1.57"/>
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<joint name="joint5" value="0"/>
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<joint name="joint6" value="0"/>
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<joint name="joint7" value="0"/>
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</group_state>
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<end_effector name="patron" parent_link="patron" group="iiwa_arm"/>
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<disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
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<disable_collisions link1="base_link" link2="link2" reason="Never"/>
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<disable_collisions link1="base_link" link2="link3" reason="Never"/>
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<disable_collisions link1="base_link" link2="link4" reason="Never"/>
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<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="link3" reason="Never"/>
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<disable_collisions link1="link1" link2="link4" reason="Never"/>
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<disable_collisions link1="link1" link2="link5" reason="Never"/>
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<disable_collisions link1="link1" link2="link6" reason="Never"/>
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<disable_collisions link1="link1" link2="link7" reason="Never"/>
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<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
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<disable_collisions link1="link2" link2="link4" reason="Never"/>
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<disable_collisions link1="link2" link2="link5" reason="Never"/>
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<disable_collisions link1="link2" link2="link6" reason="Never"/>
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<disable_collisions link1="link2" link2="link7" reason="Never"/>
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<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
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<disable_collisions link1="link3" link2="link5" reason="Never"/>
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<disable_collisions link1="link3" link2="link6" reason="Never"/>
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<disable_collisions link1="link3" link2="link7" reason="Never"/>
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<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
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<disable_collisions link1="link4" link2="link6" reason="Never"/>
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<disable_collisions link1="link4" link2="link7" reason="Never"/>
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<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
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<disable_collisions link1="link5" link2="link7" reason="Never"/>
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<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="patron" reason="Never"/>
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<disable_collisions link1="link2" link2="patron" reason="Never"/>
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<disable_collisions link1="link3" link2="patron" reason="Never"/>
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<disable_collisions link1="link4" link2="patron" reason="Never"/>
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<disable_collisions link1="link5" link2="patron" reason="Never"/>
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<disable_collisions link1="link6" link2="patron" reason="Never"/>
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<disable_collisions link1="link7" link2="patron" reason="Adjacent"/>
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<disable_collisions link1="link7" link2="camera_holder" reason="Adjacent"/>
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<disable_collisions link1="link6" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="link5" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="link4" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="link3" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="link2" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="link1" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="base_link" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="camera_holder" link2="patron" reason="Adjacent"/>
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<disable_collisions link1="camera_holder" link2="camera_corner" reason="Adjacent"/>
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<disable_collisions link1="camera_corner" link2="patron" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link7" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link6" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link5" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link4" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link3" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link2" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="link1" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="base_link" reason="Never"/>
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<disable_collisions link1="camera_corner" link2="camera_hand" reason="Adjacent"/>
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<disable_collisions link1="camera_hand" link2="camera_holder" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="patron" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link7" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link6" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link5" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link4" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link3" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link2" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="link1" reason="Never"/>
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<disable_collisions link1="camera_hand" link2="base_link" reason="Never"/>
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</robot>
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