diff --git a/robots/ur_description/srdf/ur3_gripper.srdf b/robots/ur_description/srdf/ur3_gripper.srdf new file mode 100644 index 0000000000000000000000000000000000000000..60b13cf950e8a2e7fb6136a0dc097050ab4dbaba --- /dev/null +++ b/robots/ur_description/srdf/ur3_gripper.srdf @@ -0,0 +1,36 @@ +<?xml version="1.0"?> +<!-- + + UR-3 SRDF + + This file is an alternative way of specifying semantics on the robot + structure. + + It also provides: + - the set of interesting collision pairs + + --> +<robot name="ur5"> + <disable_collisions link1="base_link" link2="shoulder_link"/> + <disable_collisions link1="base_link" link2="upper_arm_link"/> + <disable_collisions link1="shoulder_link" link2="upper_arm_link"/> + <disable_collisions link1="upper_arm_link" link2="forearm_link"/> + <disable_collisions link1="forearm_link" link2="wrist_1_link"/> + <disable_collisions link1="forearm_link" link2="wrist_2_link"/> + <disable_collisions link1="forearm_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_2_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_2_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="ee_link"/> + <disable_collisions link1="wrist_2_link" link2="ee_link"/> + <disable_collisions link1="wrist_3_link" link2="ee_link"/> + <disable_collisions link1="wrist_1_link" link2="tool0"/> + <disable_collisions link1="wrist_2_link" link2="tool0"/> + <disable_collisions link1="wrist_3_link" link2="tool0"/> + <disable_collisions link1="ee_link" link2="tool0"/> + + <gripper name="gripper" clearance="0.03"> + <position> 0 0 0.055 0.5 -0.5 -0.5 -0.5 </position> + <link name="tool0" /> + </gripper> +</robot> diff --git a/robots/ur_description/srdf/ur5.srdf b/robots/ur_description/srdf/ur5.srdf new file mode 100644 index 0000000000000000000000000000000000000000..b1df2d1caaede8916ecf5e268f1407875c002fe5 --- /dev/null +++ b/robots/ur_description/srdf/ur5.srdf @@ -0,0 +1,24 @@ +<?xml version="1.0"?> +<!-- + + UR-5 SRDF + + This file is an alternative way of specifying semantics on the robot + structure. + + It also provides: + - the set of interesting collision pairs + + --> +<robot name="ur5"> + <disable_collisions link1="base_link" link2="shoulder_link"/> + <disable_collisions link1="base_link" link2="upper_arm_link"/> + <disable_collisions link1="shoulder_link" link2="upper_arm_link"/> + <disable_collisions link1="upper_arm_link" link2="forearm_link"/> + <disable_collisions link1="forearm_link" link2="wrist_1_link"/> + <disable_collisions link1="forearm_link" link2="wrist_2_link"/> + <disable_collisions link1="forearm_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_2_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_2_link" link2="wrist_3_link"/> +</robot> diff --git a/robots/ur_description/srdf/ur5_gripper.srdf b/robots/ur_description/srdf/ur5_gripper.srdf new file mode 100644 index 0000000000000000000000000000000000000000..14cd940ea22f038ccb7edb036935d2bbf74b8bd0 --- /dev/null +++ b/robots/ur_description/srdf/ur5_gripper.srdf @@ -0,0 +1,36 @@ +<?xml version="1.0"?> +<!-- + + UR-5 SRDF + + This file is an alternative way of specifying semantics on the robot + structure. + + It also provides: + - the set of interesting collision pairs + + --> +<robot name="ur5"> + <disable_collisions link1="base_link" link2="shoulder_link"/> + <disable_collisions link1="base_link" link2="upper_arm_link"/> + <disable_collisions link1="shoulder_link" link2="upper_arm_link"/> + <disable_collisions link1="upper_arm_link" link2="forearm_link"/> + <disable_collisions link1="forearm_link" link2="wrist_1_link"/> + <disable_collisions link1="forearm_link" link2="wrist_2_link"/> + <disable_collisions link1="forearm_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_2_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_2_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="ee_link"/> + <disable_collisions link1="wrist_2_link" link2="ee_link"/> + <disable_collisions link1="wrist_3_link" link2="ee_link"/> + <disable_collisions link1="wrist_1_link" link2="tool0"/> + <disable_collisions link1="wrist_2_link" link2="tool0"/> + <disable_collisions link1="wrist_3_link" link2="tool0"/> + <disable_collisions link1="ee_link" link2="tool0"/> + + <gripper name="gripper" clearance="0.03"> + <position> 0 0 0.055 0.5 -0.5 -0.5 -0.5 </position> + <link name="tool0" /> + </gripper> +</robot> diff --git a/robots/ur_description/srdf/ur5_joint_limited_robot.srdf b/robots/ur_description/srdf/ur5_joint_limited_robot.srdf new file mode 100644 index 0000000000000000000000000000000000000000..e3fda64c4ee3d884abf75811e935be44c870e9ba --- /dev/null +++ b/robots/ur_description/srdf/ur5_joint_limited_robot.srdf @@ -0,0 +1,27 @@ +<?xml version="1.0"?> +<!-- + + UR-5 SRDF + + This file is an alternative way of specifying semantics on the robot + structure. + + It also provides: + - the set of interesting collision pairs + + --> +<robot name="ur5"> + <disable_collisions link1="base_link" link2="shoulder_link"/> + <disable_collisions link1="base_link" link2="upper_arm_link"/> + <disable_collisions link1="shoulder_link" link2="upper_arm_link"/> + <disable_collisions link1="upper_arm_link" link2="forearm_link"/> + <disable_collisions link1="forearm_link" link2="wrist_1_link"/> + <disable_collisions link1="forearm_link" link2="wrist_2_link"/> + <disable_collisions link1="forearm_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_2_link"/> + <disable_collisions link1="wrist_1_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_2_link" link2="wrist_3_link"/> + <disable_collisions link1="wrist_1_link" link2="ee_link"/> + <disable_collisions link1="wrist_2_link" link2="ee_link"/> + <disable_collisions link1="wrist_3_link" link2="ee_link"/> +</robot>