Commit c983822d authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Add SRDF files + URDF of tiago with hey5.

parent 619242a0
......@@ -19,7 +19,7 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
FOREACH(dir gazebo Media meshes robots urdf config)
FOREACH(dir gazebo Media meshes robots urdf config srdf)
INSTALL(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
ENDFOREACH(dir)
......
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<robot name="tiago">
<gripper name="gripper" clearance="0.05">
<position xyz="0 0 -0.12" rpy="1.5707963267948966 1.5707963267948966 0"/>
<link name="gripper_link" />
</gripper>
</robot>
<robot name="tiago">
<disable_collisions link1="torso_fixed_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="arm_4_link" reason="User defined" />
<disable_collisions link1="head_2_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="base_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="arm_3_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="head_2_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_3_link" link2="arm_4_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="base_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="arm_3_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="arm_6_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="arm_3_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="head_1_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="arm_5_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="base_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="base_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="head_1_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="base_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="arm_1_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="arm_2_link" reason="User defined" />
<disable_collisions link1="arm_5_link" link2="arm_6_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="arm_2_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="base_antenna_left_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="head_1_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="base_antenna_right_link" link2="wheel_left_link" reason="User defined" />
<disable_collisions link1="head_1_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="arm_3_link" link2="arm_6_link" reason="User defined" />
<disable_collisions link1="arm_6_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="torso_lift_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="wheel_left_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="arm_1_link" reason="User defined" />
<disable_collisions link1="torso_fixed_column_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="wheel_right_link" reason="User defined" />
<disable_collisions link1="torso_fixed_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="head_2_link" reason="User defined" />
<disable_collisions link1="arm_5_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="torso_lift_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="base_link" link2="arm_tool_link" reason="User defined" />
<disable_collisions link1="arm_6_link" link2="gripper_link" reason="User defined" />
<disable_collisions link1="gripper_link" link2="gripper_left_finger_link" reason="User defined" />
<disable_collisions link1="arm_5_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_5_link" link2="gripper_left_finger_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="gripper_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="gripper_left_finger_link" reason="User defined" />
<disable_collisions link1="gripper_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_6_link" link2="gripper_left_finger_link" reason="User defined" />
<disable_collisions link1="gripper_left_finger_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_4_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_tool_link" link2="gripper_left_finger_link" reason="User defined" />
<disable_collisions link1="arm_6_link" link2="gripper_right_finger_link" reason="User defined" />
<disable_collisions link1="arm_5_link" link2="gripper_link" reason="User defined" />
</robot>
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