Add Kinova JACO + MICO definitions to robot

pymoveit2/robots/kinova.py

@@ -0,0 +1,32 @@
+from typing import List
+
+MOVE_GROUP_ARM: str = "arm"
+MOVE_GROUP_GRIPPER: str = "gripper"
+
+JACO_PREFIX: str = "j2"
+MICO_PREFIX: str = "m1"
+
+def get_prefix(version_prefix: str = JACO_PREFIX, arm_dof: int = 6, hand_dof: int = 2) -> str:
+    return version_prefix + "n" + str(arm_dof) + "s" + str(hand_dof) + "00_"
+
+def joint_names(prefix: str = get_prefix()) -> List[str]:
+    res = []
+    arm_dof = int(prefix[3])
+    for i in range(arm_dof):
+        res.append(prefix + "joint_" + str(i+1))
+    return res
+
+def base_link_name(prefix: str = get_prefix()) -> str:
+    return prefix + "link_base"
+
+
+def end_effector_name(prefix: str = get_prefix()) -> str:
+    return prefix + "end_effector"
+
+
+def gripper_joint_names(prefix: str = get_prefix()) -> List[str]:
+    res = []
+    hand_dof = int(prefix[5])
+    for i in range(hand_dof):
+        res.append(prefix + "joint_finger_" + str(i+1))
+    return res