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add ros1 mycobot600_moveit and 600gripper_moveit and 630_moveit and 6…
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…30gripper_moveit
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@Tenero-Jz
Tenero-Jz committed Jul 26, 2024
1 parent a3db7a4 commit 4117a75
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98 changes: 0 additions & 98 deletions mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
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Expand Up @@ -31,104 +31,6 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="tool2" group="gripper"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->

<!-- <disable_collisions link1="base" link2="gripper_base" reason="Never"/>
<disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
<disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
<disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="base" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_base" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_base" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
<disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
<disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
<disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
<disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
<disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
<disable_collisions link1="gripper_right1" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
<disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
<disable_collisions link1="gripper_right3" link2="link6" reason="Default"/>
<disable_collisions link1="gripper_right3" link2="tool1" reason="Default"/>
<disable_collisions link1="gripper_right3" link2="tool2" reason="Default"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
<disable_collisions link1="link4" link2="link6" reason="Never"/>
<disable_collisions link1="link4" link2="tool1" reason="Never"/>
<disable_collisions link1="link4" link2="tool2" reason="Never"/>
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
<disable_collisions link1="link5" link2="tool1" reason="Never"/>
<disable_collisions link1="link5" link2="tool2" reason="Never"/>
<disable_collisions link1="link6" link2="tool1" reason="Adjacent"/>
<disable_collisions link1="link6" link2="tool2" reason="Never"/>
<disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->

<disable_collisions link1="base" link2="link1" reason="Adjacent"/>
<disable_collisions link1="base" link2="link2" reason="Never"/>
<disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
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