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