72 lines
2.4 KiB
XML
72 lines
2.4 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="pr2">
|
|
|
|
<virtual_joint name="world_joint" type="planar" parent_frame="odom" child_link="base_footprint"/>
|
|
|
|
<group name="right_arm">
|
|
<chain base_link="torso_lift_link" tip_link="r_wrist_roll_link"/>
|
|
</group>
|
|
|
|
<group name="left_arm">
|
|
<chain base_link="torso_lift_link" tip_link="l_wrist_roll_link"/>
|
|
</group>
|
|
|
|
<group name="arms">
|
|
<group name="left_arm"/>
|
|
<group name="right_arm"/>
|
|
</group>
|
|
|
|
<group_state name="tuck_arms" group="arms">
|
|
<joint name="l_shoulder_pan_joint" value="0.2" />
|
|
<!-- ... the rest of the joint values... -->
|
|
</group_state>
|
|
|
|
<group_state name="home" group="base">
|
|
<joint name="world_joint" value=" .4 0 -1 " />
|
|
<!-- ... the rest of the joint values... -->
|
|
</group_state>
|
|
|
|
<group name="base">
|
|
<joint name="world_joint"/>
|
|
</group>
|
|
|
|
<group name="whole_body">
|
|
<group name="arms"/>
|
|
<group name="base"/>
|
|
<joint name="torso_lift_joint"/>
|
|
</group>
|
|
|
|
<group name="l_end_effector">
|
|
<link name="l_gripper_palm_link" />
|
|
<joint name="l_gripper_palm_joint" />
|
|
<joint name="l_gripper_l_finger_joint" />
|
|
<joint name="l_gripper_l_finger_tip_joint" />
|
|
<joint name="l_gripper_led_joint" />
|
|
<joint name="l_gripper_motor_accelerometer_joint" />
|
|
<joint name="l_gripper_r_finger_joint" />
|
|
<joint name="l_gripper_r_finger_tip_joint" />
|
|
<joint name="l_gripper_joint" />
|
|
<joint name="l_gripper_tool_joint" />
|
|
</group>
|
|
|
|
<group name="r_end_effector">
|
|
<link name="r_gripper_palm_link" />
|
|
<joint name="r_gripper_palm_joint" />
|
|
<joint name="r_gripper_l_finger_joint" />
|
|
<joint name="r_gripper_l_finger_tip_joint" />
|
|
<joint name="r_gripper_led_joint" />
|
|
<joint name="r_gripper_motor_accelerometer_joint" />
|
|
<joint name="r_gripper_r_finger_joint" />
|
|
<joint name="r_gripper_r_finger_tip_joint" />
|
|
<joint name="r_gripper_joint" />
|
|
<joint name="r_gripper_tool_joint" />
|
|
</group>
|
|
|
|
<end_effector name="r_end_effector" parent_link="r_wrist_roll_link" group="r_end_effector"/>
|
|
<end_effector name="l_end_effector" parent_link="l_wrist_roll_link" group="l_end_effector"/>
|
|
|
|
<disable_collisions link1="r_shoulder_pan_link" link2="r_shoulder_lift_link" />
|
|
<disable_collisions link1="r_shoulder_pan_link" link2="l_gripper_palm_link" />
|
|
<!-- and many more disable_collisions tags -->
|
|
|
|
</robot> |