diff --git a/hyq_description/srdf/hyq.srdf b/hyq_description/srdf/hyq.srdf
index 5b847ee5b9a69c46451d2a96288779a22d42b333..34618ee1507cafd721b4f5a592d5748253fd49a9 100644
--- a/hyq_description/srdf/hyq.srdf
+++ b/hyq_description/srdf/hyq.srdf
@@ -1,29 +1,33 @@
<?xml version="1.0" ?>
<robot name="hyq">
- <group name="lf">
+ <!-- left front leg -->
+ <group name="lf_leg">
<joint name="lf_haa_joint" />
<joint name="lf_hfe_joint" />
<joint name="lf_kfe_joint" />
- <chain base_link="trunk" tip_link="lf_foot_joint" />
+ <chain base_link="trunk" tip_link="lf_foot" />
</group>
- <group name="rf">
+ <!-- right front leg -->
+ <group name="rf_leg">
<joint name="rf_haa_joint" />
<joint name="rf_hfe_joint" />
<joint name="rf_kfe_joint" />
- <chain base_link="trunk" tip_link="rf_foot_joint" />
+ <chain base_link="trunk" tip_link="rf_foot" />
</group>
- <group name="lh">
+ <!-- left hind leg -->
+ <group name="lh_leg">
<joint name="lh_haa_joint" />
<joint name="lh_hfe_joint" />
<joint name="lh_kfe_joint" />
- <chain base_link="trunk" tip_link="lh_foot_joint" />
+ <chain base_link="trunk" tip_link="lh_foot" />
</group>
- <group name="rh">
+ <!-- right hind leg -->
+ <group name="rh_leg">
<joint name="rh_haa_joint" />
<joint name="rh_hfe_joint" />
<joint name="rh_kfe_joint" />
- <chain base_link="trunk" tip_link="lh_foot_joint" />
+ <chain base_link="trunk" tip_link="lh_foot" />
</group>
<group name="all_legs">
<group name="lf" />
@@ -31,36 +35,37 @@
<group name="lh" />
<group name="rh" />
</group>
- <group name="right_legs">
+ <group name="r_legs">
<group name="rf" />
<group name="rh" />
</group>
- <group name="left_legs">
+ <group name="l_legs">
<group name="lf" />
<group name="lh" />
</group>
- <group name="front_legs">
+ <group name="f_legs">
<group name="lf" />
<group name="rf" />
</group>
- <group name="hind_legs">
+ <group name="h_legs">
<group name="lh" />
<group name="rh" />
</group>
- <group name="ldiag_legs">
+ <group name="ld_legs">
<group name="lf" />
<group name="rh" />
</group>
- <group name="rdiag_legs">
+ <group name="rd_legs">
<group name="rf" />
<group name="lh" />
</group>
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
+ <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" />
- <group_state name="half_sitting" group="all">
+ <group_state name="half_sitting" group="all_legs">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="-0.2" />
<joint name="lf_hfe_joint" value="0.75" />
@@ -76,7 +81,7 @@
<joint name="rh_kfe_joint" value="1.5" />
</group_state>
- <group_state name="standing" group="all">
+ <group_state name="standing" group="all_legs">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="0." />
<joint name="lf_hfe_joint" value="0.75" />
diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index e1f5c499c9af75de505a0ca320be4c103e2c1064..583311c71c98866c1503c37ebf71cb7451754ecd 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -49,6 +49,14 @@
<joint name="torso_roll" />
<joint name="torso_yaw" />
</group>
+ <group name="all">
+ <group name="l_arm" />
+ <group name="r_arm" />
+ <group name="l_leg" />
+ <group name="r_leg" />
+ <group name="head" />
+ <group name="torso" />
+ </group>
<group name="all_legs">
<group name="l_leg" />
<group name="r_leg" />
@@ -57,19 +65,22 @@
<group name="l_arm" />
<group name="r_arm" />
</group>
- <group name="all">
+ <group name="all_arms_torso">
<group name="l_arm" />
<group name="r_arm" />
- <group name="l_leg" />
- <group name="r_leg" />
- <group name="head" />
+ <group name="torso" />
+ </group>
+ <group name="r_arm_torso">
+ <group name="r_arm" />
+ <group name="torso" />
+ </group>
+ <group name="l_arm_torso">
+ <group name="l_arm" />
<group name="torso" />
</group>
-
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="r_hand_dh_frame_fixed_joint" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
+ <end_effector name="r_foot" parent_link="r_sole" group="r_leg" />
+ <end_effector name="l_foot" parent_link="l_sole" group="l_leg" />
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
diff --git a/talos_data/srdf/talos.srdf b/talos_data/srdf/talos.srdf
index a579ef35d7acc01b80cde056f3550d35c1df3735..84b2365b9bf3cdada8151a8f9e95bb189c6442f3 100644
--- a/talos_data/srdf/talos.srdf
+++ b/talos_data/srdf/talos.srdf
@@ -1,14 +1,26 @@
<?xml version="1.0" ?>
-<!--This does not replace URDF, and is not an extension of URDF.
- This is a format for representing semantic information about the robot structure.
- A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
<robot name="talos">
- <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
- <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
- <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
- <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
- <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+
+ <group name="r_leg">
+ <joint name="leg_right_1_joint" />
+ <joint name="leg_right_2_joint" />
+ <joint name="leg_right_3_joint" />
+ <joint name="leg_right_4_joint" />
+ <joint name="leg_right_5_joint" />
+ <joint name="leg_right_6_joint" />
+ <joint name="leg_right_sole_fix_joint" />
+ <chain base_link="base_link" tip_link="right_sole_link" />
+ </group>
+ <group name="l_leg">
+ <joint name="leg_left_1_joint" />
+ <joint name="leg_left_2_joint" />
+ <joint name="leg_left_3_joint" />
+ <joint name="leg_left_4_joint" />
+ <joint name="leg_left_5_joint" />
+ <joint name="leg_left_6_joint" />
+ <joint name="leg_left_sole_fix_joint" />
+ <chain base_link="base_link" tip_link="left_sole_link" />
+ </group>
<group name="r_arm">
<joint name="arm_right_1_joint" />
<joint name="arm_right_2_joint" />
@@ -21,31 +33,6 @@
<joint name="wrist_right_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
</group>
-<!-- <group name="gripper_right">
- <link name="gripper_right_base_link" />
- <link name="gripper_right_inner_double_link" />
- <link name="gripper_right_fingertip_1_link" />
- <link name="gripper_right_fingertip_2_link" />
- <link name="gripper_right_inner_single_link" />
- <link name="gripper_right_fingertip_3_link" />
- <link name="gripper_right_motor_double_link" />
- <link name="gripper_right_motor_single_link" />
- <joint name="gripper_right_joint" />
- <chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
- </group>
- <group name="gripper_left">
- <link name="gripper_left_base_link" />
- <link name="gripper_left_inner_double_link" />
- <link name="gripper_left_fingertip_1_link" />
- <link name="gripper_left_fingertip_2_link" />
- <link name="gripper_left_inner_single_link" />
- <link name="gripper_left_fingertip_3_link" />
- <link name="gripper_left_motor_double_link" />
- <link name="gripper_left_motor_single_link" />
- <joint name="gripper_left_joint" />
- <chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
- </group>
--->
<group name="l_arm">
<joint name="arm_left_1_joint" />
<joint name="arm_left_2_joint" />
@@ -58,61 +45,48 @@
<joint name="wrist_left_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
</group>
+ <group name="head">
+ <joint name="head_1_joint" />
+ <joint name="head_2_joint" />
+ </group>
<group name="torso">
<joint name="torso_1_joint" />
<joint name="torso_2_joint" />
<chain base_link="base_link" tip_link="torso_2_link" />
</group>
- <group name="both_arms_torso">
- <group name="left_arm" />
- <group name="right_arm" />
- <group name="torso" />
- </group>
- <group name="right_arm_torso">
- <group name="right_arm" />
+ <group name="all">
+ <group name="l_arm" />
+ <group name="r_arm" />
+ <group name="l_leg" />
+ <group name="r_leg" />
+ <group name="head" />
<group name="torso" />
</group>
- <group name="left_arm_torso">
- <group name="left_arm" />
- <group name="torso" />
+ <group name="all_legs">
+ <group name="l_leg" />
+ <group name="r_leg" />
</group>
- <group name="r_leg">
- <joint name="leg_right_1_joint" />
- <joint name="leg_right_2_joint" />
- <joint name="leg_right_3_joint" />
- <joint name="leg_right_4_joint" />
- <joint name="leg_right_5_joint" />
- <joint name="leg_right_6_joint" />
- <joint name="leg_right_sole_fix_joint" />
- <chain base_link="base_link" tip_link="right_sole_link" />
+ <group name="all_arms">
+ <group name="l_arm" />
+ <group name="r_arm" />
</group>
- <group name="l_leg">
- <joint name="leg_left_1_joint" />
- <joint name="leg_left_2_joint" />
- <joint name="leg_left_3_joint" />
- <joint name="leg_left_4_joint" />
- <joint name="leg_left_5_joint" />
- <joint name="leg_left_6_joint" />
- <joint name="leg_left_sole_fix_joint" />
- <chain base_link="base_link" tip_link="left_sole_link" />
+ <group name="all_arms_torso">
+ <group name="l_arm" />
+ <group name="r_arm" />
+ <group name="torso" />
</group>
- <group name="head">
- <joint name="head_1_joint" />
- <joint name="head_2_joint" />
+ <group name="r_arm_torso">
+ <group name="r_arm" />
+ <group name="torso" />
</group>
- <group name="all">
+ <group name="l_arm_torso">
<group name="l_arm" />
- <group name="r_arm" />
- <group name="l_leg" />
- <group name="r_leg" />
- <group name="head" />
<group name="torso" />
</group>
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
- <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+ <end_effector name="r_foot" parent_link="right_sole_link" group="r_leg" />
+ <end_effector name="l_foot" parent_link="left_sole_link" group="l_leg" />
+
<passive_joint name="gripper_left_motor_single_joint" />
<passive_joint name="gripper_left_inner_double_joint" />
<passive_joint name="gripper_left_fingertip_1_joint" />
@@ -125,9 +99,7 @@
<passive_joint name="gripper_right_inner_single_joint" />
<passive_joint name="gripper_right_fingertip_3_joint" />
<passive_joint name="gripper_right_motor_single_joint" />
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." />
<joint name="arm_left_1_joint" value="0.25847" />
@@ -162,7 +134,6 @@
<joint name="torso_2_joint" value="0.006761" />
</group_state>
-
<rotor_params>
<joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
@@ -197,28 +168,24 @@
</rotor_params>
- <!--
- Talos Specificities.
- foot height = y axis
- foot width = x axis
- foot depth = z axis
- -->
- <specificities>
- <feet>
- <right>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </right>
- <left>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </left>
- </feet>
- </specificities>
-
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links.
-
-TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
+ <!--
+ Talos Specificities.
+ foot height = y axis
+ foot width = x axis
+ foot depth = z axis
+ -->
+ <specificities>
+ <feet>
+ <right>
+ <size height="0.122" width="0.205" depth="0.107" />
+ <anklePosition x="0.0" y="0.0" z="0.107" />
+ </right>
+ <left>
+ <size height="0.122" width="0.205" depth="0.107" />
+ <anklePosition x="0.0" y="0.0" z="0.107" />
+ </left>
+ </feet>
+ </specificities>
<disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />