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Refactor gripper move groups to use chains instead of links.
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@Moth-Man
Moth-Man committed Oct 21, 2024
1 parent 3c87731 commit 86a9293
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Showing 4 changed files with 12 additions and 44 deletions.
14 changes: 3 additions & 11 deletions src/arm_on_rail_sim/config/moveit/picknik_ur.srdf
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Expand Up @@ -17,17 +17,9 @@
<group name="linear_actuator" />
</group>
<group name="gripper">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
<link name="grasp_link"/>
<joint name="robotiq_85_left_knuckle_joint"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_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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14 changes: 3 additions & 11 deletions src/picknik_ur_base_config/config/moveit/picknik_ur.srdf
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Expand Up @@ -13,17 +13,9 @@
<chain base_link="base_link" tip_link="grasp_link"/>
</group>
<group name="gripper">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
<link name="grasp_link"/>
<joint name="robotiq_85_left_knuckle_joint"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_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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14 changes: 3 additions & 11 deletions src/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
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Expand Up @@ -19,17 +19,9 @@
<group name="linear_actuator" />
</group>
<group name="gripper">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
<link name="grasp_link"/>
<joint name="robotiq_85_left_knuckle_joint"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_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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14 changes: 3 additions & 11 deletions src/picknik_ur_mock_hw_config/config/moveit/picknik_ur_machine_tending.srdf
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Expand Up @@ -13,17 +13,9 @@
<chain base_link="base_link" tip_link="grasp_link"/>
</group>
<group name="gripper">
<link name="robotiq_85_base_link"/>
<link name="robotiq_85_left_inner_knuckle_link"/>
<link name="robotiq_85_left_finger_tip_link"/>
<link name="robotiq_85_left_knuckle_link"/>
<link name="robotiq_85_left_finger_link"/>
<link name="robotiq_85_right_inner_knuckle_link"/>
<link name="robotiq_85_right_finger_tip_link"/>
<link name="robotiq_85_right_knuckle_link"/>
<link name="robotiq_85_right_finger_link"/>
<link name="grasp_link"/>
<joint name="robotiq_85_left_knuckle_joint"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_left_finger_link"/>
<chain base_link="robotiq_85_base_link" tip_link="robotiq_85_right_finger_link"/>
<chain base_link="robotiq_85_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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