From eabab76e0413ce9fedf75703a041f6c786818a7d Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Mon, 12 Dec 2022 16:28:01 +0000
Subject: [PATCH] [panda_description] Add SRDF
---
python/example_robot_data/robots_loader.py | 2 +
robots/panda_description/srdf/panda.srdf | 70 ++++++++++++++++++++++
2 files changed, 72 insertions(+)
create mode 100644 robots/panda_description/srdf/panda.srdf
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 23b17a1..dffe939 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -394,6 +394,8 @@ class PandaLoader(RobotLoader):
path = "panda_description"
urdf_filename = "panda.urdf"
urdf_subpath = "urdf"
+ srdf_filename = "panda.srdf"
+ ref_posture = "default"
class AllegroRightHandLoader(RobotLoader):
diff --git a/robots/panda_description/srdf/panda.srdf b/robots/panda_description/srdf/panda.srdf
new file mode 100644
index 0000000..e120f6c
--- /dev/null
+++ b/robots/panda_description/srdf/panda.srdf
@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="panda">
+ <group name="arm">
+ <joint name="panda_joint1"/>
+ <joint name="panda_joint2"/>
+ <joint name="panda_joint3"/>
+ <joint name="panda_joint4"/>
+ <joint name="panda_joint5"/>
+ <joint name="panda_joint6"/>
+ <joint name="panda_joint7"/>
+ </group>
+
+ <group name="hand">
+ <joint name="panda_finger_joint1"/>
+ </group>
+
+ <group name="arm_and_hand">
+ <group name="arm"/>
+ <group name="hand"/>
+ </group>
+
+ <group_state name="default" group="arm_and_hand">
+ <joint name="panda_finger_joint1" value="0.001"/>
+ <joint name="panda_joint1" value="0"/>
+ <joint name="panda_joint2" value="-0.785398"/>
+ <joint name="panda_joint3" value="0"/>
+ <joint name="panda_joint4" value="-2.35619"/>
+ <joint name="panda_joint5" value="0"/>
+ <joint name="panda_joint6" value="1.5707"/>
+ <joint name="panda_joint7" value="0.785398"/>
+ </group_state>
+
+ <end_effector name="end_effector" parent_link="panda_hand_tcp" group="arm"/>
+
+ <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+ <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+ <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent"/>
+ <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+ <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+ <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+ <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+ <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+ <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+ <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+ <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+ <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+ <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+ <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+ <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+ <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+ <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+</robot>
--
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