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🔧 update urdf and add tool0 to chain

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This commit is contained in:
Ilya Uraev 2021-11-09 17:09:02 +04:00
parent 4fe0324b25
commit dfaea654f1
13 changed files with 302 additions and 239 deletions
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2
rasms_moveit_config/srdf/rasms_description.srdf
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@ -10,7 +10,7 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="rasms_arm_group">
<chain base_link="base" tip_link="link6"/>
<chain base_link="base" tip_link="tool0"/>
</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="zero_pose" group="rasms_arm_group">