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ur3_sim_copy.srdf
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<?xml version="1.0" ?>
<robot name="ur3">
<group name="manipulator">
<chain base_link="base_link" tip_link="ee_link" />
</group>
<group name="endeffector">
<link name="ee_link" />
</group>
<group_state name="home" group="manipulator">
<joint name="elbow_joint" value="0" />
<joint name="shoulder_lift_joint" value="0" />
<joint name="shoulder_pan_joint" value="0" />
<joint name="wrist_1_joint" value="0" />
<joint name="wrist_2_joint" value="0" />
<joint name="wrist_3_joint" value="0" />
</group_state>
<group_state name="up" group="manipulator">
<joint name="elbow_joint" value="0" />
<joint name="shoulder_lift_joint" value="-1.5707" />
<joint name="shoulder_pan_joint" value="0" />
<joint name="wrist_1_joint" value="-1.5707" />
<joint name="wrist_2_joint" value="0" />
<joint name="wrist_3_joint" value="0" />
</group_state>
<end_effector name="moveit_ee" parent_link="ee_link" group="endeffector" />
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<disable_collisions link1="base_link" link2="table" reason="Adjacent" />
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
<!--disable gripper collisions-->
<disable_collisions link1="wrist_3_link" link2="robotiq_coupler" reason="Adjacent" />
<disable_collisions link1="robotiq_coupler" link2="robotiq_85_left_knuckle_link" reason="Adjacent" />
<disable_collisions link1="robotiq_coupler" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent" />
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent" />
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent" />
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent" />
</robot>