From 2c118fc746f1ec5306369d48e572c7c6f32b5776 Mon Sep 17 00:00:00 2001 From: Robert Haschke <rhaschke@users.noreply.github.com> Date: Wed, 5 Feb 2020 14:10:29 +0100 Subject: [PATCH] Fix initial state of robot (#47) Define 'extended' state for 'panda_arm' group. --- config/fake_controllers.yaml | 4 +++- config/panda_arm.xacro | 9 +++++++++ config/panda_arm_hand.srdf.xacro | 19 ------------------- 3 files changed, 12 insertions(+), 20 deletions(-) diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml index 619aa5d..111ff4c 100644 --- a/config/fake_controllers.yaml +++ b/config/fake_controllers.yaml @@ -13,5 +13,7 @@ controller_list: - panda_finger_joint1 - panda_finger_joint2 initial: - - group: panda_arm_hand + - group: panda_arm pose: ready + - group: hand + pose: open diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro index 092b68f..9232a30 100644 --- a/config/panda_arm.xacro +++ b/config/panda_arm.xacro @@ -19,6 +19,15 @@ <joint name="panda_joint6" value="1.571" /> <joint name="panda_joint7" value="0.785" /> </group_state> + <group_state name="extended" group="panda_arm"> + <joint name="panda_joint1" value="0" /> + <joint name="panda_joint2" value="0" /> + <joint name="panda_joint3" value="0" /> + <joint name="panda_joint4" value="0" /> + <joint name="panda_joint5" value="0" /> + <joint name="panda_joint6" value="0" /> + <joint name="panda_joint7" value="0.785" /> + </group_state> <!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" /> diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro index 774a103..803cd37 100644 --- a/config/panda_arm_hand.srdf.xacro +++ b/config/panda_arm_hand.srdf.xacro @@ -17,25 +17,6 @@ <group name="panda_arm" /> <group name="hand" /> </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="ready" group="panda_arm_hand"> - <joint name="panda_joint1" value="0" /> - <joint name="panda_joint2" value="-0.785" /> - <joint name="panda_joint3" value="0" /> - <joint name="panda_joint4" value="-2.356" /> - <joint name="panda_joint5" value="0" /> - <joint name="panda_joint6" value="1.571" /> - <joint name="panda_joint7" value="0.785" /> - </group_state> - <group_state name="extended" group="panda_arm_hand"> - <joint name="panda_joint1" value="0" /> - <joint name="panda_joint2" value="0" /> - <joint name="panda_joint3" value="0" /> - <joint name="panda_joint4" value="0" /> - <joint name="panda_joint5" value="0" /> - <joint name="panda_joint6" value="0" /> - <joint name="panda_joint7" value="0.785" /> - </group_state> <group_state name="open" group="hand"> <joint name="panda_finger_joint1" value="0.035" /> <joint name="panda_finger_joint2" value="0.035" /> -- GitLab