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Configured MoveIt config to match nao_meshes collisions..

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-19 15:10:18 +03:00
parent 17baa41f7c
commit b92842f3ce
7 changed files with 331 additions and 50 deletions
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2
nao_dcm_apps/nao_dcm_moveit_config/.setup_assistant
View File

@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/nao_robot_v4_H25.srdf
CONFIG:
generated_timestamp: 1398368537
generated_timestamp: 1400500416

45
nao_dcm_apps/nao_dcm_moveit_config/config/fake_controllers.yaml
View File

@ -39,4 +39,47 @@ controller_list:
- name: fake_LeftHand_controller
joints:
- LWristYaw
- LHand
- LHand
- name: fake_RightArmHand_controller
joints:
- RShoulderPitch
- RShoulderRoll
- RElbowYaw
- RElbowRoll
- RWristYaw
- RHand
- name: fake_LeftArmHand_controller
joints:
- LShoulderPitch
- LShoulderRoll
- LElbowYaw
- LElbowRoll
- LWristYaw
- LHand
- name: fake_Body_controller
joints:
- LHipYawPitch
- LHipRoll
- LHipPitch
- LKneePitch
- LAnklePitch
- LAnkleRoll
- RHipRoll
- RHipPitch
- RKneePitch
- RAnklePitch
- RAnkleRoll
- HeadYaw
- HeadPitch
- LShoulderPitch
- LShoulderRoll
- LElbowYaw
- LElbowRoll
- LWristYaw
- LHand
- RShoulderPitch
- RShoulderRoll
- RElbowYaw
- RElbowRoll
- RWristYaw
- RHand

135
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
View File

@ -71,83 +71,172 @@
<passive_joint name="virtual_joint" />
<passive_joint name="RHipYawPitch" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="LElbowDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RKnee" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" 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="r_wrist" 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" />
<disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHip" reason="Never" />
<disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="torso" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" 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="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Never" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Default" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="r_wrist" reason="Never" />
<disable_collisions link1="LKnee" link2="torso" reason="Never" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="neck" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="LShoulderDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" 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="Adjacent" />
<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="l_wrist" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHip" link2="gaze" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="torso" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="RHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="RHipDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Never" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Default" />
<disable_collisions link1="RKnee" link2="torso" reason="Never" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="neck" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<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="r_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="l_sole" reason="Never" />
<disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
<disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="r_sole" reason="Never" />
<disable_collisions link1="gaze" link2="torso" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="l_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="torso" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="torso" reason="Never" />
<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="l_wrist" link2="r_wrist" reason="Default" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
<disable_collisions link1="neck" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="r_wrist" reason="Never" />
<disable_collisions link1="neck" 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_sole" link2="torso" reason="Never" />
</robot>

135
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
View File

@ -102,83 +102,172 @@
<passive_joint name="virtual_joint" />
<passive_joint name="RHipYawPitch" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="LElbowDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RKnee" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" 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="r_wrist" 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" />
<disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHip" reason="Never" />
<disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="torso" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" 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="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Never" />
<disable_collisions link1="LKnee" link2="l_sole" reason="Default" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="r_wrist" reason="Never" />
<disable_collisions link1="LKnee" link2="torso" reason="Never" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="neck" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="LShoulderDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" 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="Adjacent" />
<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="l_wrist" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipYaw" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHip" link2="gaze" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="torso" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="RHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="RHipDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Never" />
<disable_collisions link1="RKnee" link2="r_sole" reason="Default" />
<disable_collisions link1="RKnee" link2="torso" reason="Never" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="neck" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<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="r_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="l_sole" reason="Never" />
<disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
<disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="r_sole" reason="Never" />
<disable_collisions link1="gaze" link2="torso" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="l_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_ankle" link2="torso" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="torso" reason="Never" />
<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="l_wrist" link2="r_wrist" reason="Default" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
<disable_collisions link1="neck" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="r_wrist" reason="Never" />
<disable_collisions link1="neck" 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_sole" link2="torso" reason="Never" />
</robot>

17
nao_dcm_apps/nao_dcm_moveit_config/config/ompl_planning_H21.yaml
View File

@ -108,4 +108,19 @@ Pelvis:
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- PRMstarkConfigDefault
Body:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(LHipYawPitch,LHipRoll)
longest_valid_segment_fraction: 0.05

45
nao_dcm_apps/nao_dcm_moveit_config/config/ompl_planning_H25.yaml
View File

@ -138,4 +138,49 @@ LeftHand:
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(LWristYaw,LHand)
longest_valid_segment_fraction: 0.05
RightArmHand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(RShoulderPitch,RShoulderRoll)
longest_valid_segment_fraction: 0.05
LeftArmHand:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(LShoulderPitch,LShoulderRoll)
longest_valid_segment_fraction: 0.05
Body:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(LHipYawPitch,LHipRoll)
longest_valid_segment_fraction: 0.05

2
nao_dcm_apps/nao_dcm_moveit_config/package.xml
View File

@ -44,4 +44,4 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
<run_depend>xacro</run_depend>
<run_depend>nao_dcm_description</run_depend>
</package>
</package>