HeeroYui-deprecated/nao_dcm
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Fixed collision issues on MoveIt! Corrected color in URDF

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-28 15:21:17 +03:00
parent f113824ca2
commit 381b8edf26
3 changed files with 29 additions and 7 deletions
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17
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
View File

@ -85,6 +85,7 @@
<disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="torso" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
<disable_collisions link1="LHip" link2="LHipYaw" reason="Adjacent" />
<disable_collisions link1="LHip" link2="LKnee" reason="Never" />
@ -103,7 +104,6 @@
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="odroid" reason="Never" />
<disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHip" link2="r_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
@ -137,14 +137,17 @@
<disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
<disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="helmet" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
@ -173,20 +176,22 @@
<disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="torso" reason="Never" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
@ -224,10 +229,12 @@
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="helmet" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
@ -241,7 +248,6 @@
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
@ -266,11 +272,14 @@
<disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_sole" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_sole" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="l_wrist" link2="neck" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="odroid" reason="Never" />
<disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
@ -286,5 +295,7 @@
<disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="torso" reason="Never" />
<disable_collisions link1="r_ankle" link2="l_sole" reason="Never" />
<disable_collisions link1="r_sole" link2="torso" reason="Never" />
<disable_collisions link1="r_sole" link2="LKnee" reason="Adjacent" />
</robot>

17
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
View File

@ -116,6 +116,7 @@
<disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="torso" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
<disable_collisions link1="LHip" link2="LHipYaw" reason="Adjacent" />
<disable_collisions link1="LHip" link2="LKnee" reason="Never" />
@ -134,7 +135,6 @@
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="odroid" reason="Never" />
<disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHip" link2="r_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
@ -168,14 +168,17 @@
<disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
<disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="helmet" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
@ -204,20 +207,22 @@
<disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="torso" reason="Never" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
@ -255,10 +260,12 @@
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="helmet" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
@ -272,7 +279,6 @@
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
@ -297,11 +303,14 @@
<disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_sole" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_sole" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="l_wrist" link2="neck" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="odroid" reason="Never" />
<disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
@ -317,5 +326,7 @@
<disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="torso" reason="Never" />
<disable_collisions link1="r_ankle" link2="l_sole" reason="Never" />
<disable_collisions link1="r_sole" link2="torso" reason="Never" />
<disable_collisions link1="r_sole" link2="LKnee" reason="Adjacent" />
</robot>

2
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
View File

@ -20,7 +20,7 @@
</material>
<material name="LightGrey">
<color rgba="0.8 0.8 0.8 1.0"/>
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<!-- END OF MATERIALS -->