Unverified Commit edb456b0 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #6 from florent-lamiraux/master

Migrate universal robot srdf files from hpp-universal-robots.
parents d9bd324d d205618f
<?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>
<?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>
<?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>
<?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>
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