Merge pull request #6 from florent-lamiraux/master

Migrate universal robot srdf files from hpp-universal-robots.

robots/ur_description/srdf/ur3_gripper.srdf

+<?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>

robots/ur_description/srdf/ur5.srdf

+<?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>

robots/ur_description/srdf/ur5_gripper.srdf

+<?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>

robots/ur_description/srdf/ur5_joint_limited_robot.srdf

+<?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>