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<?xml version="1.0" ?>
<robot name="finger_edu">

    <!-- left leg -->
    <group name="left_leg">
        <joint name="FL_HAA" />
        <joint name="FL_HFE" />
        <joint name="FL_KFE" />
        <chain base_link="base_link" tip_link="FL_FOOT" />
    </group>
    <!-- right leg -->
    <group name="right_leg">
        <joint name="FR_HAA" />
        <joint name="FR_HFE" />
        <joint name="FR_KFE" />
        <chain base_link="base_link" tip_link="FR_FOOT" />
    </group>

    <group name="all_legs">
        <group name="left_leg" />
        <group name="right_leg" />
    </group>

    <end_effector name="left_foot" parent_link="FL_FOOT" group="left_leg" />
    <end_effector name="right_foot" parent_link="FR_FOOT" group="right_leg" />

    <group_state name="standing" group="all_legs">
        <joint name="root_joint" value="0. 0. 0.35487417 0. 0. 0. 1." />
        <joint name="FL_HAA" value="-0.3" />
        <joint name="FL_HFE" value="0.78539816" />
        <joint name="FL_KFE" value="-1.57079633" />
        <joint name="FR_HAA" value="0.3" />
        <joint name="FR_HFE" value="0.78539816" />
        <joint name="FR_KFE" value="-1.57079633" />
    </group_state>

    <disable_collisions link1="FL_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="FR_SHOULDER" link2="base_link" reason="Adjacent" />

    <disable_collisions link1="FL_UPPER_LEG" link2="FL_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="FR_UPPER_LEG" link2="FR_SHOULDER" reason="Adjacent" />

    <disable_collisions link1="FL_LOWER_LEG" link2="FL_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="FR_LOWER_LEG" link2="FR_UPPER_LEG" reason="Adjacent" />
</robot>