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Update srdfs.
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@Moth-Man
Moth-Man committed Nov 5, 2024
1 parent 7bed097 commit 4f6deed
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Showing 2 changed files with 15 additions and 15 deletions.
6 changes: 3 additions & 3 deletions src/picknik_ur_gazebo_config/config/moveit/picknik_ur_gazebo.srdf.xacro
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Expand Up @@ -16,9 +16,9 @@
<chain base_link="base_link" tip_link="grasp_link" />
</group>
<group name="gripper">
<chain base_link="robotiq_85_base_link" tip_link="$(arg gripper_name)_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="$(arg gripper_name)_right_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="grasp_link"/>
<chain base_link="(arg gripper_name)_base_link" tip_link="$(arg gripper_name)_left_finger_link"/>
<chain base_link="(arg gripper_name)_base_link" tip_link="$(arg gripper_name)_right_finger_link"/>
<chain base_link="(arg gripper_name)_base_link" tip_link="grasp_link"/>
</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="open" group="gripper">
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24 changes: 12 additions & 12 deletions src/picknik_ur_multi_arm_config/config/moveit/multi_arm_ur.srdf
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Expand Up @@ -28,24 +28,24 @@
<group name="fourth_manipulator"/>
</group>
<group name="gripper">
<chain base_link="robotiq_85_base_link" tip_link="first_robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="first_robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="first_grasp_link"/>
<chain base_link="first_robotiq_85_base_link" tip_link="first_robotiq_85_left_finger_link"/>
<chain base_link="first_robotiq_85_base_link" tip_link="first_robotiq_85_right_finger_link"/>
<chain base_link="first_robotiq_85_base_link" tip_link="first_grasp_link"/>
</group>
<group name="second_gripper">
<chain base_link="robotiq_85_base_link" tip_link="second_robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="second_robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="second_grasp_link"/>
<chain base_link="second_robotiq_85_base_link" tip_link="second_robotiq_85_left_finger_link"/>
<chain base_link="second_robotiq_85_base_link" tip_link="second_robotiq_85_right_finger_link"/>
<chain base_link="second_robotiq_85_base_link" tip_link="second_grasp_link"/>
</group>
<group name="third_gripper">
<chain base_link="robotiq_85_base_link" tip_link="third_robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="third_robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="third_grasp_link"/>
<chain base_link="third_robotiq_85_base_link" tip_link="third_robotiq_85_left_finger_link"/>
<chain base_link="third_robotiq_85_base_link" tip_link="third_robotiq_85_right_finger_link"/>
<chain base_link="third_robotiq_85_base_link" tip_link="third_grasp_link"/>
</group>
<group name="fourth_gripper">
<chain base_link="robotiq_85_base_link" tip_link="fourth_robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="fourth_robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="fourth_grasp_link"/>
<chain base_link="fourth_robotiq_85_base_link" tip_link="fourth_robotiq_85_left_finger_link"/>
<chain base_link="fourth_robotiq_85_base_link" tip_link="fourth_robotiq_85_right_finger_link"/>
<chain base_link="fourth_robotiq_85_base_link" tip_link="fourth_grasp_link"/>
</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="open_right" group="gripper">
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