anymal-kinova.srdf 6.74 KB
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<?xml version="1.0" ?>
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<robot name="anymal_kinova">
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    <group name="lf_leg">
        <joint name="LF_HAA" />
        <joint name="LF_HFE" />
        <joint name="LF_KFE" />
        <chain base_link="base" tip_link="LF_FOOT" />
    </group>
    <group name="lh_leg">
        <joint name="LH_HAA" />
        <joint name="LH_HFE" />
        <joint name="LH_KFE" />
        <chain base_link="base" tip_link="LH_FOOT" />
    </group>
    <group name="rf_leg">
        <joint name="RF_HAA" />
        <joint name="RF_HFE" />
        <joint name="RF_KFE" />
        <chain base_link="base" tip_link="RF_FOOT" />
    </group>
    <group name="rh_leg">
        <joint name="RH_HAA" />
        <joint name="RH_HFE" />
        <joint name="RH_KFE" />
        <chain base_link="base" tip_link="RH_FOOT" />
    </group>
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    <group name="arm">
        <joint name="j2s6s200_joint_1" />
        <joint name="j2s6s200_joint_2" />
        <joint name="j2s6s200_joint_3" />
        <joint name="j2s6s200_joint_4" />
        <joint name="j2s6s200_joint_5" />
        <joint name="j2s6s200_joint_5" />
        <chain base_link="base" tip_link="j2s6s200_end_effector" />
    </group>
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    <group name="all_legs">
        <group name="lf" />
        <group name="rf" />
        <group name="lh" />
        <group name="rh" />
    </group>
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    <group name="all">
        <group name="lf" />
        <group name="rf" />
        <group name="lh" />
        <group name="rh" />
        <group name="arm" />
    </group>
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    <group name="r_legs">
        <group name="rf" />
        <group name="rh" />
    </group>
    <group name="l_legs">
        <group name="lf" />
        <group name="lh" />
    </group>
    <group name="f_legs">
        <group name="lf" />
        <group name="rf" />
    </group>
    <group name="h_legs">
        <group name="lh" />
        <group name="rh" />
    </group>
    <group name="ld_legs">
        <group name="lf" />
        <group name="rh" />
    </group>
    <group name="rd_legs">
        <group name="rf" />
        <group name="lh" />
    </group>

    <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
    <end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
    <end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
    <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
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    <end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" />
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    <group_state name="standing_with_arm_up" group="all">
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        <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
        <joint name="LF_HAA" value="-0.1" />
        <joint name="LF_HFE" value="0.7" />
        <joint name="LF_KFE" value="-1." />
        <joint name="RF_HAA" value="0.1" />
        <joint name="RF_HFE" value="0.7" />
        <joint name="RF_KFE" value="-1." />
        <joint name="LH_HAA" value="-0.1" />
        <joint name="LH_HFE" value="-0.7" />
        <joint name="LH_KFE" value="1." />
        <joint name="RH_HAA" value="0.1" />
        <joint name="RH_HFE" value="-0.7" />
        <joint name="RH_KFE" value="1." />
        <joint name="j2s6s200_joint_1" value="1.5707" />
        <joint name="j2s6s200_joint_2" value="2.618" />
        <joint name="j2s6s200_joint_3" value="-1.5707" />
        <joint name="j2s6s200_joint_4" value="3.1415" />
        <joint name="j2s6s200_joint_5" value="2.618" />
        <joint name="j2s6s200_joint_6" value="0." />
    </group_state>

    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
    <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="LF_FOOT" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RF_THIGH" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RF_SHANK" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RF_FOOT" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
    <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
    
    <disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
    <disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
    <disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
    <disable_collisions link1="base" link2="RH_HIP" reason="Adjacent" />
    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
    <disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent" />
    <disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent" />
    <disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent" />
    <disable_collisions link1="LF_THIGH" link2="LF_SHANK" reason="Adjacent" />
    <disable_collisions link1="LH_THIGH" link2="LH_SHANK" reason="Adjacent" />
    <disable_collisions link1="RF_THIGH" link2="RF_SHANK" reason="Adjacent" />
    <disable_collisions link1="RH_THIGH" link2="RH_SHANK" reason="Adjacent" />
    <disable_collisions link1="LF_SHANK" link2="LF_FOOT" reason="Adjacent" />
    <disable_collisions link1="LH_SHANK" link2="LH_FOOT" reason="Adjacent" />
    <disable_collisions link1="RF_SHANK" link2="RF_FOOT" reason="Adjacent" />
    <disable_collisions link1="RH_SHANK" link2="RH_FOOT" reason="Adjacent" />

    <disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent" />
    <disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent" />
    <disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent" />
    <disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent" />

    <disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent" />
    <disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent" />
    <disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent" />
    <disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />

    <disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
    
    <!-- Need to check these 4 ? there may be auto-collisions ...  -->
    <disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
    <disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
    <disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
    <disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />



</robot>