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Gepetto
example-robot-data
Commits
f25f9eab
Commit
f25f9eab
authored
Jan 08, 2021
by
Wolfgang Merkt
Browse files
Fix Anymal SRDFs
parent
64b889d2
Pipeline
#12803
passed with stage
in 1 minute and 35 seconds
Changes
2
Pipelines
1
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Side-by-side
robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
View file @
f25f9eab
<?xml version="1.0" ?>
<robot
name=
"anymal_kinova"
>
<robot
name=
"anymal"
>
<group
name=
"whole_body"
>
<joint
name=
"root_joint"
/>
<group
name=
"whole_body_fixed"
/>
</group>
<group
name=
"whole_body_fixed"
>
<group
name=
"all_legs"
/>
<group
name=
"arm"
/>
</group>
<virtual_joint
name=
"root_joint"
type=
"floating"
parent_frame=
"world_frame"
child_link=
"base"
/>
<group
name=
"lf_leg"
>
<joint
name=
"LF_HAA"
/>
...
...
@@ -31,45 +40,38 @@
<joint
name=
"j2s6s200_joint_3"
/>
<joint
name=
"j2s6s200_joint_4"
/>
<joint
name=
"j2s6s200_joint_5"
/>
<joint
name=
"j2s6s200_joint_
5
"
/>
<joint
name=
"j2s6s200_joint_
6
"
/>
<chain
base_link=
"base"
tip_link=
"j2s6s200_end_effector"
/>
</group>
<group
name=
"all_legs"
>
<group
name=
"lf"
/>
<group
name=
"rf"
/>
<group
name=
"lh"
/>
<group
name=
"rh"
/>
</group>
<group
name=
"all"
>
<group
name=
"lf"
/>
<group
name=
"rf"
/>
<group
name=
"lh"
/>
<group
name=
"rh"
/>
<group
name=
"arm"
/>
<group
name=
"lf_leg"
/>
<group
name=
"rf_leg"
/>
<group
name=
"lh_leg"
/>
<group
name=
"rh_leg"
/>
</group>
<group
name=
"r_legs"
>
<group
name=
"rf"
/>
<group
name=
"rh"
/>
<group
name=
"rf
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"l_legs"
>
<group
name=
"lf"
/>
<group
name=
"lh"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"lh
_leg
"
/>
</group>
<group
name=
"f_legs"
>
<group
name=
"lf"
/>
<group
name=
"rf"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"rf
_leg
"
/>
</group>
<group
name=
"h_legs"
>
<group
name=
"lh"
/>
<group
name=
"rh"
/>
<group
name=
"lh
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"ld_legs"
>
<group
name=
"lf"
/>
<group
name=
"rh"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"rd_legs"
>
<group
name=
"rf"
/>
<group
name=
"lh"
/>
<group
name=
"rf
_leg
"
/>
<group
name=
"lh
_leg
"
/>
</group>
<end_effector
name=
"lf_foot"
parent_link=
"LF_FOOT"
group=
"lf_leg"
/>
...
...
@@ -78,7 +80,7 @@
<end_effector
name=
"rh_foot"
parent_link=
"RH_FOOT"
group=
"rh_leg"
/>
<end_effector
name=
"arm"
parent_link=
"j2s6s200_end_effector"
group=
"arm"
/>
<group_state
name=
"standing_with_arm_up"
group=
"
all
"
>
<group_state
name=
"standing_with_arm_up"
group=
"
whole_body
"
>
<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"
/>
...
...
@@ -115,7 +117,7 @@
<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"
/>
...
...
@@ -144,13 +146,10 @@
<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>
robots/anymal_b_simple_description/srdf/anymal.srdf
View file @
f25f9eab
<?xml version="1.0" ?>
<robot
name=
"anymal"
>
<group
name=
"whole_body"
>
<joint
name=
"root_joint"
/>
<joint
name=
"LF_HAA"
/>
<joint
name=
"LF_HFE"
/>
<joint
name=
"LF_KFE"
/>
<joint
name=
"LH_HAA"
/>
<joint
name=
"LH_HFE"
/>
<joint
name=
"LH_KFE"
/>
<joint
name=
"RF_HAA"
/>
<joint
name=
"RF_HFE"
/>
<joint
name=
"RF_KFE"
/>
<joint
name=
"RH_HAA"
/>
<joint
name=
"RH_HFE"
/>
<joint
name=
"RH_KFE"
/>
</group>
<virtual_joint
name=
"root_joint"
type=
"floating"
parent_frame=
"world_frame"
child_link=
"base"
/>
<group
name=
"lf_leg"
>
<joint
name=
"LF_HAA"
/>
...
...
@@ -26,34 +42,34 @@
<chain
base_link=
"base"
tip_link=
"RH_FOOT"
/>
</group>
<group
name=
"all_legs"
>
<group
name=
"lf"
/>
<group
name=
"rf"
/>
<group
name=
"lh"
/>
<group
name=
"rh"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"rf
_leg
"
/>
<group
name=
"lh
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"r_legs"
>
<group
name=
"rf"
/>
<group
name=
"rh"
/>
<group
name=
"rf
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"l_legs"
>
<group
name=
"lf"
/>
<group
name=
"lh"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"lh
_leg
"
/>
</group>
<group
name=
"f_legs"
>
<group
name=
"lf"
/>
<group
name=
"rf"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"rf
_leg
"
/>
</group>
<group
name=
"h_legs"
>
<group
name=
"lh"
/>
<group
name=
"rh"
/>
<group
name=
"lh
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"ld_legs"
>
<group
name=
"lf"
/>
<group
name=
"rh"
/>
<group
name=
"lf
_leg
"
/>
<group
name=
"rh
_leg
"
/>
</group>
<group
name=
"rd_legs"
>
<group
name=
"rf"
/>
<group
name=
"lh"
/>
<group
name=
"rf
_leg
"
/>
<group
name=
"lh
_leg
"
/>
</group>
<end_effector
name=
"lf_foot"
parent_link=
"LF_FOOT"
group=
"lf_leg"
/>
...
...
@@ -61,7 +77,7 @@
<end_effector
name=
"lh_foot"
parent_link=
"LH_FOOT"
group=
"lh_leg"
/>
<end_effector
name=
"rh_foot"
parent_link=
"RH_FOOT"
group=
"rh_leg"
/>
<group_state
name=
"standing"
group=
"
all_legs
"
>
<group_state
name=
"standing"
group=
"
whole_body
"
>
<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"
/>
...
...
@@ -127,7 +143,4 @@
<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>
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