Commit f8266875 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[tiago] Added two versions of tiago (with/out pal-hey5 hand) + tiago unit-test

parent a062908d
Pipeline #3997 passed with stage
in 2 minutes and 41 seconds
collision_model_parameters:
padding: 0.025
links_with_padding: [arm_4_link,
arm_5_link, arm_6_link, arm_7_link, gripper_link, gripper_right_finger_link,
gripper_left_finger_link]
blacklist:
default:
- first: arm_2_link
second: torso_lift_link
- first: arm_5_link
second: wrist_ft_link
- first: arm_5_link
second: wrist_ft_tool_link
- first: arm_6_link
second: wrist_ft_link
- first: arm_6_link
second: wrist_ft_tool_link
- first: arm_tool_link
second: wrist_ft_link
- first: ground_plane
second: base_link
- first: ground_plane
second: caster_back_left_1_link
- first: ground_plane
second: caster_back_left_1_link
- first: ground_plane
second: caster_back_left_2_link
- first: ground_plane
second: caster_back_right_1_link
- first: ground_plane
second: caster_back_right_2_link
- first: ground_plane
second: caster_front_left_1_link
- first: ground_plane
second: caster_front_left_2_link
- first: ground_plane
second: caster_front_right_1_link
- first: ground_plane
second: caster_front_right_2_link
- first: ground_plane
second: wheel_right_link
- first: ground_plane
second: wheel_left_link
- first: wrist_ft_link
second: wrist_ft_tool_link
- first: gripper_link # PAL and WSG Gripper link
second: gripper_tool_link
- first: gripper_link # PAL and WSG Gripper link
second: wrist_ft_tool_link
- first: gripper_link # PAL and WSG Gripper link
second: wrist_ft_link
- first: gripper_tool_link
second: gripper_right_finger_link
- first: gripper_tool_link
second: gripper_left_finger_link
- first: gripper_tool_link
second: wrist_ft_tool_link
# Hey5 links
- first: hand_link
second: wrist_ft_tool_link
- first: hand_link
second: wrist_ft_link
- first: hand_tool_link
second: hand_safety_box
- first: hand_tool_link
second: hand_little_virtual_2_link
- first: hand_tool_link
second: hand_middle_abd_link
- first: hand_tool_link
second: hand_ring_virtual_3_link
- first: hand_tool_link
second: hand_little_virtual_1_link
- first: hand_tool_link
second: hand_index_flex_1_link
- first: hand_tool_link
second: hand_index_flex_1_link
- first: hand_tool_link
second: hand_middle_virtual_3_link
- first: hand_tool_link
second: hand_ring_virtual_1_link
- first: hand_tool_link
second: hand_middle_virtual_2_link
- first: hand_tool_link
second: hand_thumb_flex_2_link
- first: hand_tool_link
second: hand_index_abd_link
- first: hand_tool_link
second: hand_index_flex_1_link
- first: hand_tool_link
second: hand_index_flex_2_link
- first: hand_tool_link
second: hand_index_flex_3_link
- first: hand_tool_link
second: hand_index_virtual_1_link
- first: hand_tool_link
second: hand_index_virtual_2_link
- first: hand_tool_link
second: hand_index_virtual_3_link
- first: hand_tool_link
second: hand_little_abd_link
- first: hand_tool_link
second: hand_little_flex_1_link
- first: hand_tool_link
second: hand_little_flex_2_link
- first: hand_tool_link
second: hand_little_flex_3_link
- first: hand_tool_link
second: hand_little_virtual_1_link
- first: hand_tool_link
second: hand_little_virtual_2_link
- first: hand_tool_link
second: hand_little_virtual_3_link
- first: hand_tool_link
second: hand_middle_abd_link
- first: hand_tool_link
second: hand_middle_flex_1_link
- first: hand_tool_link
second: hand_middle_flex_2_link
- first: hand_tool_link
second: hand_middle_flex_3_link
- first: hand_tool_link
second: hand_middle_virtual_1_link
- first: hand_tool_link
second: hand_middle_virtual_2_link
- first: hand_tool_link
second: hand_middle_virtual_3_link
- first: hand_tool_link
second: hand_palm_link
- first: hand_tool_link
second: hand_ring_abd_link
- first: hand_tool_link
second: hand_ring_flex_1_link
- first: hand_tool_link
second: hand_ring_flex_2_link
- first: hand_tool_link
second: hand_ring_flex_3_link
- first: hand_tool_link
second: hand_ring_virtual_1_link
- first: hand_tool_link
second: hand_ring_virtual_2_link
- first: hand_tool_link
second: hand_ring_virtual_3_link
- first: hand_tool_link
second: hand_safety_box
- first: hand_tool_link
second: hand_thumb_abd_link
- first: hand_tool_link
second: hand_thumb_flex_1_link
- first: hand_tool_link
second: hand_thumb_flex_2_link
- first: hand_tool_link
second: hand_thumb_virtual_1_link
- first: hand_tool_link
second: hand_thumb_virtual_2_link
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