re-run moveit_setup_assistant with new collision meshes

ur10_moveit_config/.setup_assistant

@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
-    generated_timestamp: 1409148189
\ No newline at end of file
+    generated_timestamp: 1413893323
\ No newline at end of file

ur10_moveit_config/config/fake_controllers.yaml

@@ -6,4 +6,7 @@ controller_list:
       - elbow_joint
       - wrist_1_joint
       - wrist_2_joint
-      - wrist_3_joint
\ No newline at end of file
+      - wrist_3_joint
+  - name: fake_endeffector_controller
+    joints:
+      []
\ No newline at end of file

ur10_moveit_config/config/ompl_planning.yaml

@@ -35,4 +35,17 @@ manipulator:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
   projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.05
\ No newline at end of file
+  longest_valid_segment_fraction: 0.05
+endeffector:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
\ No newline at end of file

ur10_moveit_config/config/ur10.srdf

@@ -37,16 +37,17 @@
     <!--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="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--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_link" link2="forearm_link" reason="Never" />
     <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
-    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
+    <disable_collisions link1="base_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
-    <disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
-    <disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
     <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
     <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />