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Commit f25f9eab authored by Wolfgang Merkt's avatar Wolfgang Merkt
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Fix Anymal SRDFs

parent 64b889d2
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Pipeline #12803 passed
Stage: test
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robots/anymal_b_simple_description/srdf/anymal-kinova.srdf
+ 30
− 31
View file @ f25f9eab
<?xml version="1.0" ?> <?xml version="1.0" ?>
<robot name="anymal_kinova"> <robot name="anymal">
<group name="whole_body">
<joint name="root_joint"/>
<group name="whole_body_fixed"/>
</group>
<group name="whole_body_fixed">
<group name="all_legs"/>
<group name="arm"/>
</group>
<virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base" />
<group name="lf_leg"> <group name="lf_leg">
<joint name="LF_HAA" /> <joint name="LF_HAA" />
...@@ -31,45 +40,38 @@ ...@@ -31,45 +40,38 @@
<joint name="j2s6s200_joint_3" /> <joint name="j2s6s200_joint_3" />
<joint name="j2s6s200_joint_4" /> <joint name="j2s6s200_joint_4" />
<joint name="j2s6s200_joint_5" /> <joint name="j2s6s200_joint_5" />
<joint name="j2s6s200_joint_5" /> <joint name="j2s6s200_joint_6" />
<chain base_link="base" tip_link="j2s6s200_end_effector" /> <chain base_link="base" tip_link="j2s6s200_end_effector" />
</group> </group>
<group name="all_legs"> <group name="all_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rf" /> <group name="rf_leg" />
<group name="lh" /> <group name="lh_leg" />
<group name="rh" /> <group name="rh_leg" />
</group>
<group name="all">
<group name="lf" />
<group name="rf" />
<group name="lh" />
<group name="rh" />
<group name="arm" />
</group> </group>
<group name="r_legs"> <group name="r_legs">
<group name="rf" /> <group name="rf_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="l_legs"> <group name="l_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="lh" /> <group name="lh_leg" />
</group> </group>
<group name="f_legs"> <group name="f_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rf" /> <group name="rf_leg" />
</group> </group>
<group name="h_legs"> <group name="h_legs">
<group name="lh" /> <group name="lh_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="ld_legs"> <group name="ld_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="rd_legs"> <group name="rd_legs">
<group name="rf" /> <group name="rf_leg" />
<group name="lh" /> <group name="lh_leg" />
</group> </group>
<end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" /> <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
...@@ -78,7 +80,7 @@ ...@@ -78,7 +80,7 @@
<end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" /> <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
<end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" /> <end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" />
<group_state name="standing_with_arm_up" group="all"> <group_state name="standing_with_arm_up" group="whole_body">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." /> <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
<joint name="LF_HAA" value="-0.1" /> <joint name="LF_HAA" value="-0.1" />
<joint name="LF_HFE" value="0.7" /> <joint name="LF_HFE" value="0.7" />
...@@ -115,7 +117,7 @@ ...@@ -115,7 +117,7 @@
<disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" /> <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" /> <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" /> <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
<disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" /> <disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" /> <disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" /> <disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
...@@ -144,13 +146,10 @@ ...@@ -144,13 +146,10 @@
<disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" /> <disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />
<disable_collisions link1="base" link2="imu_link" reason="Adjacent" /> <disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
<!-- Need to check these 4 ? there may be auto-collisions ... --> <!-- Need to check these 4 ? there may be auto-collisions ... -->
<disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
</robot> </robot>
robots/anymal_b_simple_description/srdf/anymal.srdf
+ 33
− 20
View file @ f25f9eab
<?xml version="1.0" ?> <?xml version="1.0" ?>
<robot name="anymal"> <robot name="anymal">
<group name="whole_body">
<joint name="root_joint" />
<joint name="LF_HAA" />
<joint name="LF_HFE" />
<joint name="LF_KFE" />
<joint name="LH_HAA" />
<joint name="LH_HFE" />
<joint name="LH_KFE" />
<joint name="RF_HAA" />
<joint name="RF_HFE" />
<joint name="RF_KFE" />
<joint name="RH_HAA" />
<joint name="RH_HFE" />
<joint name="RH_KFE" />
</group>
<virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base" />
<group name="lf_leg"> <group name="lf_leg">
<joint name="LF_HAA" /> <joint name="LF_HAA" />
...@@ -26,34 +42,34 @@ ...@@ -26,34 +42,34 @@
<chain base_link="base" tip_link="RH_FOOT" /> <chain base_link="base" tip_link="RH_FOOT" />
</group> </group>
<group name="all_legs"> <group name="all_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rf" /> <group name="rf_leg" />
<group name="lh" /> <group name="lh_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="r_legs"> <group name="r_legs">
<group name="rf" /> <group name="rf_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="l_legs"> <group name="l_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="lh" /> <group name="lh_leg" />
</group> </group>
<group name="f_legs"> <group name="f_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rf" /> <group name="rf_leg" />
</group> </group>
<group name="h_legs"> <group name="h_legs">
<group name="lh" /> <group name="lh_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="ld_legs"> <group name="ld_legs">
<group name="lf" /> <group name="lf_leg" />
<group name="rh" /> <group name="rh_leg" />
</group> </group>
<group name="rd_legs"> <group name="rd_legs">
<group name="rf" /> <group name="rf_leg" />
<group name="lh" /> <group name="lh_leg" />
</group> </group>
<end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" /> <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
...@@ -61,7 +77,7 @@ ...@@ -61,7 +77,7 @@
<end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_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" /> <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
<group_state name="standing" group="all_legs"> <group_state name="standing" group="whole_body">
<joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." /> <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
<joint name="LF_HAA" value="-0.1" /> <joint name="LF_HAA" value="-0.1" />
<joint name="LF_HFE" value="0.7" /> <joint name="LF_HFE" value="0.7" />
...@@ -127,7 +143,4 @@ ...@@ -127,7 +143,4 @@
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" /> <disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
</robot> </robot>
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