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Cleaned URDF and MoveIt! config

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-08-19 17:44:22 +03:00
parent eeab4cb777
commit be2137f13c
7 changed files with 150 additions and 260 deletions
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140
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
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@ -43,9 +43,9 @@
<joint name="RAnklePitch" />
<joint name="RAnkleRoll" />
</group>
<group name="Pelvis">
<!-- <group name="Pelvis">
<joint name="LHipYawPitch" />
</group>
</group> -->
<group name="Body">
<joint name="HeadYaw" />
<joint name="HeadPitch" />
@ -53,10 +53,12 @@
<joint name="LShoulderRoll" />
<joint name="LElbowYaw" />
<joint name="LElbowRoll" />
<joint name="LWristYaw" />
<joint name="RShoulderPitch" />
<joint name="RShoulderRoll" />
<joint name="RElbowYaw" />
<joint name="RElbowRoll" />
<joint name="RWristYaw" />
<joint name="LHipYawPitch" />
<joint name="LHipRoll" />
<joint name="LHipPitch" />
@ -78,7 +80,6 @@
<passive_joint name="virtual_joint" />
<passive_joint name="RHipYawPitch" />
<passive_joint name="LHand" />
<passive_joint name="RHand" />
<passive_joint name="LFinger1" />
<passive_joint name="LFinger1_1" />
<passive_joint name="LFinger1_2" />
@ -87,6 +88,7 @@
<passive_joint name="LFinger2_2" />
<passive_joint name="LThumb1_joint" />
<passive_joint name="LThumb1_2" />
<passive_joint name="RHand" />
<passive_joint name="RFinger1" />
<passive_joint name="RFinger1_1" />
<passive_joint name="RFinger1_2" />
@ -107,6 +109,8 @@
<disable_collisions link1="LElbowDummy" link2="LThumb1" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="LThumb2" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RFinger11" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RFinger21" 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" />
@ -116,7 +120,6 @@
<disable_collisions link1="LElbowDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
<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="LFinger11" link2="LFinger12" reason="Adjacent" />
@ -128,12 +131,13 @@
<disable_collisions link1="LFinger11" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger11" link2="LThumb2" reason="Default" />
<disable_collisions link1="LFinger11" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="RFinger13" reason="Never" />
<disable_collisions link1="LFinger11" link2="RKnee" reason="Never" />
<disable_collisions link1="LFinger11" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger11" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LFinger11" link2="neck" reason="Never" />
<disable_collisions link1="LFinger11" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger11" link2="r_sole" reason="Never" />
<disable_collisions link1="LFinger12" link2="LFinger13" reason="Adjacent" />
<disable_collisions link1="LFinger12" link2="LFinger21" reason="Never" />
<disable_collisions link1="LFinger12" link2="LFinger22" reason="Never" />
@ -142,11 +146,11 @@
<disable_collisions link1="LFinger12" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger12" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger12" link2="LThumb2" reason="Default" />
<disable_collisions link1="LFinger12" link2="RFinger13" reason="Never" />
<disable_collisions link1="LFinger12" link2="RKnee" reason="Never" />
<disable_collisions link1="LFinger12" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger12" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger12" link2="neck" reason="Never" />
<disable_collisions link1="LFinger12" link2="odroid" reason="Never" />
<disable_collisions link1="LFinger12" link2="r_sole" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger21" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger22" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger23" reason="Never" />
@ -157,12 +161,14 @@
<disable_collisions link1="LFinger13" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger13" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger13" link2="neck" reason="Never" />
<disable_collisions link1="LFinger13" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger21" link2="LFinger22" reason="Adjacent" />
<disable_collisions link1="LFinger21" link2="LFinger23" reason="Never" />
<disable_collisions link1="LFinger21" link2="LShoulder" reason="Never" />
<disable_collisions link1="LFinger21" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger21" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger21" link2="LThumb2" reason="Never" />
<disable_collisions link1="LFinger21" link2="RFinger21" reason="Never" />
<disable_collisions link1="LFinger21" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger21" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger21" link2="l_wrist" reason="Adjacent" />
@ -180,8 +186,8 @@
<disable_collisions link1="LFinger23" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger23" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger23" link2="LThumb2" reason="Never" />
<disable_collisions link1="LFinger23" link2="RFinger11" reason="Never" />
<disable_collisions link1="LFinger23" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger23" link2="RThumb1" reason="Never" />
<disable_collisions link1="LFinger23" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger23" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@ -196,13 +202,12 @@
<disable_collisions link1="LHip" link2="RKnee" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RThumb1" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="helmet" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<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="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="LShoulder" reason="Never" />
@ -212,17 +217,13 @@
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
<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="RFinger21" 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" />
@ -230,25 +231,19 @@
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RThumb1" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RThumb2" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
<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="l_sole" reason="Never" />
<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="LThumb1" reason="Never" />
<disable_collisions link1="LShoulder" link2="LThumb2" reason="Never" />
@ -268,13 +263,10 @@
<disable_collisions link1="LShoulder" link2="RThumb1" reason="Never" />
<disable_collisions link1="LShoulder" link2="RThumb2" reason="Never" />
<disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulder" link2="helmet" 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="odroid" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid_bag" 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" />
@ -282,6 +274,7 @@
<disable_collisions link1="LShoulderDummy" link2="LThumb1" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="LThumb2" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RFinger21" 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" />
@ -291,27 +284,30 @@
<disable_collisions link1="LShoulderDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RThumb2" 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="LThumb1" link2="LThumb2" reason="Adjacent" />
<disable_collisions link1="LThumb1" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RHip" reason="Never" />
<disable_collisions link1="LThumb1" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RKnee" reason="Never" />
<disable_collisions link1="LThumb1" link2="RShoulder" reason="Never" />
<disable_collisions link1="LThumb1" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RThumb1" reason="Never" />
<disable_collisions link1="LThumb1" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LThumb1" link2="neck" reason="Never" />
<disable_collisions link1="LThumb1" link2="r_ankle" reason="Never" />
<disable_collisions link1="LThumb1" link2="r_sole" reason="Never" />
<disable_collisions link1="LThumb2" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LThumb2" link2="RHip" reason="Never" />
<disable_collisions link1="LThumb2" link2="RKnee" reason="Never" />
<disable_collisions link1="LThumb2" link2="RShoulder" reason="Never" />
<disable_collisions link1="LThumb2" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LThumb2" link2="RThumb1" reason="Never" />
<disable_collisions link1="LThumb2" link2="l_wrist" reason="Default" />
<disable_collisions link1="LThumb2" link2="neck" reason="Never" />
<disable_collisions link1="LThumb2" link2="r_ankle" reason="Never" />
@ -324,12 +320,12 @@
<disable_collisions link1="RElbowDummy" link2="RFinger23" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RThumb2" reason="Never" />
<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="RFinger11" link2="RFinger12" reason="Adjacent" />
<disable_collisions link1="RFinger11" link2="RFinger13" reason="Never" />
<disable_collisions link1="RFinger11" link2="RFinger21" reason="Never" />
@ -339,12 +335,9 @@
<disable_collisions link1="RFinger11" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger11" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger11" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger11" link2="LElbowDummy" reason="Never" />
<disable_collisions link1="RFinger11" link2="LFinger13" reason="Never" />
<disable_collisions link1="RFinger11" link2="LKnee" reason="Never" />
<disable_collisions link1="RFinger11" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger11" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger11" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger11" link2="neck" reason="Never" />
<disable_collisions link1="RFinger11" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger12" link2="RFinger13" reason="Adjacent" />
<disable_collisions link1="RFinger12" link2="RFinger21" reason="Never" />
<disable_collisions link1="RFinger12" link2="RFinger22" reason="Never" />
@ -353,11 +346,9 @@
<disable_collisions link1="RFinger12" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger12" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger12" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger12" link2="LFinger13" reason="Never" />
<disable_collisions link1="RFinger12" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger12" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger12" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger12" link2="neck" reason="Never" />
<disable_collisions link1="RFinger12" link2="odroid" reason="Never" />
<disable_collisions link1="RFinger12" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger13" link2="RFinger21" reason="Never" />
<disable_collisions link1="RFinger13" link2="RFinger22" reason="Never" />
<disable_collisions link1="RFinger13" link2="RFinger23" reason="Never" />
@ -365,90 +356,70 @@
<disable_collisions link1="RFinger13" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger13" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger13" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger13" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger13" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger13" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger13" link2="neck" reason="Never" />
<disable_collisions link1="RFinger13" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger21" link2="RFinger22" reason="Adjacent" />
<disable_collisions link1="RFinger21" link2="RFinger23" reason="Never" />
<disable_collisions link1="RFinger21" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger21" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger21" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger21" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger21" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger21" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger21" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger21" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger21" link2="neck" reason="Never" />
<disable_collisions link1="RFinger21" link2="l_sole" reason="Never" />
<disable_collisions link1="RFinger21" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger22" link2="RFinger23" reason="Adjacent" />
<disable_collisions link1="RFinger22" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger22" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger22" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger22" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger22" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger22" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger22" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger22" link2="neck" reason="Never" />
<disable_collisions link1="RFinger22" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger23" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger23" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger23" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger23" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger23" link2="LFinger11" reason="Never" />
<disable_collisions link1="RFinger23" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger23" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger23" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger23" link2="neck" reason="Never" />
<disable_collisions link1="RFinger23" link2="r_wrist" 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" />
<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="helmet" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="odroid" reason="Never" />
<disable_collisions link1="RHip" link2="odroid_bag" 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="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="torso" reason="Default" />
<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="helmet" reason="Never" />
<disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipYaw" link2="r_ankle" 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="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="RKnee" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RThumb1" reason="Never" />
<disable_collisions link1="RShoulder" link2="RThumb2" reason="Never" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<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="odroid" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
@ -458,61 +429,32 @@
<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" />
<disable_collisions link1="RThumb1" link2="RThumb2" reason="Adjacent" />
<disable_collisions link1="RThumb1" link2="l_ankle" reason="Never" />
<disable_collisions link1="RThumb1" link2="l_sole" reason="Never" />
<disable_collisions link1="RThumb1" link2="neck" reason="Never" />
<disable_collisions link1="RThumb1" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RThumb2" link2="l_ankle" reason="Never" />
<disable_collisions link1="RThumb2" link2="neck" reason="Never" />
<disable_collisions link1="RThumb2" link2="r_wrist" reason="Default" />
<disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
<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="odroid_bag" reason="Default" />
<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="Default" />
<disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="l_sole" reason="Never" />
<disable_collisions link1="helmet" link2="neck" reason="Never" />
<disable_collisions link1="helmet" link2="odroid" reason="Never" />
<disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
<disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="r_sole" reason="Never" />
<disable_collisions link1="helmet" link2="torso" reason="Never" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<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" />
<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="odroid" link2="odroid_bag" reason="Adjacent" />
<disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid" link2="torso" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
<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>

136
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
View File

@ -43,9 +43,9 @@
<joint name="RAnklePitch" />
<joint name="RAnkleRoll" />
</group>
<group name="Pelvis">
<!-- <group name="Pelvis">
<joint name="LHipYawPitch" />
</group>
</group> -->
<group name="RightHand">
<joint name="RWristYaw" />
<joint name="RHand" />
@ -135,6 +135,8 @@
<disable_collisions link1="LElbowDummy" link2="LThumb1" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="LThumb2" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RFinger11" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="RFinger21" 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" />
@ -144,7 +146,6 @@
<disable_collisions link1="LElbowDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
<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="LFinger11" link2="LFinger12" reason="Adjacent" />
@ -156,12 +157,13 @@
<disable_collisions link1="LFinger11" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger11" link2="LThumb2" reason="Default" />
<disable_collisions link1="LFinger11" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="RFinger13" reason="Never" />
<disable_collisions link1="LFinger11" link2="RKnee" reason="Never" />
<disable_collisions link1="LFinger11" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger11" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger11" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LFinger11" link2="neck" reason="Never" />
<disable_collisions link1="LFinger11" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger11" link2="r_sole" reason="Never" />
<disable_collisions link1="LFinger12" link2="LFinger13" reason="Adjacent" />
<disable_collisions link1="LFinger12" link2="LFinger21" reason="Never" />
<disable_collisions link1="LFinger12" link2="LFinger22" reason="Never" />
@ -170,11 +172,11 @@
<disable_collisions link1="LFinger12" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger12" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger12" link2="LThumb2" reason="Default" />
<disable_collisions link1="LFinger12" link2="RFinger13" reason="Never" />
<disable_collisions link1="LFinger12" link2="RKnee" reason="Never" />
<disable_collisions link1="LFinger12" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger12" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger12" link2="neck" reason="Never" />
<disable_collisions link1="LFinger12" link2="odroid" reason="Never" />
<disable_collisions link1="LFinger12" link2="r_sole" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger21" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger22" reason="Never" />
<disable_collisions link1="LFinger13" link2="LFinger23" reason="Never" />
@ -185,12 +187,14 @@
<disable_collisions link1="LFinger13" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger13" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger13" link2="neck" reason="Never" />
<disable_collisions link1="LFinger13" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger21" link2="LFinger22" reason="Adjacent" />
<disable_collisions link1="LFinger21" link2="LFinger23" reason="Never" />
<disable_collisions link1="LFinger21" link2="LShoulder" reason="Never" />
<disable_collisions link1="LFinger21" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger21" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger21" link2="LThumb2" reason="Never" />
<disable_collisions link1="LFinger21" link2="RFinger21" reason="Never" />
<disable_collisions link1="LFinger21" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger21" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger21" link2="l_wrist" reason="Adjacent" />
@ -208,8 +212,8 @@
<disable_collisions link1="LFinger23" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LFinger23" link2="LThumb1" reason="Never" />
<disable_collisions link1="LFinger23" link2="LThumb2" reason="Never" />
<disable_collisions link1="LFinger23" link2="RFinger11" reason="Never" />
<disable_collisions link1="LFinger23" link2="RShoulder" reason="Never" />
<disable_collisions link1="LFinger23" link2="RThumb1" reason="Never" />
<disable_collisions link1="LFinger23" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger23" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@ -224,13 +228,12 @@
<disable_collisions link1="LHip" link2="RKnee" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RThumb1" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="helmet" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<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="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="LShoulder" reason="Never" />
@ -240,17 +243,13 @@
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
<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="RFinger21" 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" />
@ -258,25 +257,19 @@
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RThumb1" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RThumb2" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
<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="l_sole" reason="Never" />
<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="LThumb1" reason="Never" />
<disable_collisions link1="LShoulder" link2="LThumb2" reason="Never" />
@ -296,13 +289,10 @@
<disable_collisions link1="LShoulder" link2="RThumb1" reason="Never" />
<disable_collisions link1="LShoulder" link2="RThumb2" reason="Never" />
<disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulder" link2="helmet" 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="odroid" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid_bag" 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" />
@ -310,6 +300,7 @@
<disable_collisions link1="LShoulderDummy" link2="LThumb1" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="LThumb2" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RFinger21" 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" />
@ -319,27 +310,30 @@
<disable_collisions link1="LShoulderDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="RThumb2" 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="LThumb1" link2="LThumb2" reason="Adjacent" />
<disable_collisions link1="LThumb1" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RHip" reason="Never" />
<disable_collisions link1="LThumb1" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RKnee" reason="Never" />
<disable_collisions link1="LThumb1" link2="RShoulder" reason="Never" />
<disable_collisions link1="LThumb1" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LThumb1" link2="RThumb1" reason="Never" />
<disable_collisions link1="LThumb1" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LThumb1" link2="neck" reason="Never" />
<disable_collisions link1="LThumb1" link2="r_ankle" reason="Never" />
<disable_collisions link1="LThumb1" link2="r_sole" reason="Never" />
<disable_collisions link1="LThumb2" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LThumb2" link2="RHip" reason="Never" />
<disable_collisions link1="LThumb2" link2="RKnee" reason="Never" />
<disable_collisions link1="LThumb2" link2="RShoulder" reason="Never" />
<disable_collisions link1="LThumb2" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LThumb2" link2="RThumb1" reason="Never" />
<disable_collisions link1="LThumb2" link2="l_wrist" reason="Default" />
<disable_collisions link1="LThumb2" link2="neck" reason="Never" />
<disable_collisions link1="LThumb2" link2="r_ankle" reason="Never" />
@ -352,12 +346,12 @@
<disable_collisions link1="RElbowDummy" link2="RFinger23" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="RThumb1" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RThumb2" reason="Never" />
<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="RFinger11" link2="RFinger12" reason="Adjacent" />
<disable_collisions link1="RFinger11" link2="RFinger13" reason="Never" />
<disable_collisions link1="RFinger11" link2="RFinger21" reason="Never" />
@ -367,12 +361,9 @@
<disable_collisions link1="RFinger11" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger11" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger11" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger11" link2="LElbowDummy" reason="Never" />
<disable_collisions link1="RFinger11" link2="LFinger13" reason="Never" />
<disable_collisions link1="RFinger11" link2="LKnee" reason="Never" />
<disable_collisions link1="RFinger11" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger11" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger11" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger11" link2="neck" reason="Never" />
<disable_collisions link1="RFinger11" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger12" link2="RFinger13" reason="Adjacent" />
<disable_collisions link1="RFinger12" link2="RFinger21" reason="Never" />
<disable_collisions link1="RFinger12" link2="RFinger22" reason="Never" />
@ -381,11 +372,9 @@
<disable_collisions link1="RFinger12" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger12" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger12" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger12" link2="LFinger13" reason="Never" />
<disable_collisions link1="RFinger12" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger12" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger12" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger12" link2="neck" reason="Never" />
<disable_collisions link1="RFinger12" link2="odroid" reason="Never" />
<disable_collisions link1="RFinger12" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger13" link2="RFinger21" reason="Never" />
<disable_collisions link1="RFinger13" link2="RFinger22" reason="Never" />
<disable_collisions link1="RFinger13" link2="RFinger23" reason="Never" />
@ -393,90 +382,70 @@
<disable_collisions link1="RFinger13" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger13" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger13" link2="RThumb2" reason="Default" />
<disable_collisions link1="RFinger13" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger13" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger13" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger13" link2="neck" reason="Never" />
<disable_collisions link1="RFinger13" link2="r_wrist" reason="Default" />
<disable_collisions link1="RFinger21" link2="RFinger22" reason="Adjacent" />
<disable_collisions link1="RFinger21" link2="RFinger23" reason="Never" />
<disable_collisions link1="RFinger21" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger21" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger21" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger21" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger21" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger21" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger21" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger21" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger21" link2="neck" reason="Never" />
<disable_collisions link1="RFinger21" link2="l_sole" reason="Never" />
<disable_collisions link1="RFinger21" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RFinger22" link2="RFinger23" reason="Adjacent" />
<disable_collisions link1="RFinger22" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger22" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger22" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger22" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger22" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger22" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger22" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger22" link2="neck" reason="Never" />
<disable_collisions link1="RFinger22" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger23" link2="RShoulder" reason="Never" />
<disable_collisions link1="RFinger23" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RFinger23" link2="RThumb1" reason="Never" />
<disable_collisions link1="RFinger23" link2="RThumb2" reason="Never" />
<disable_collisions link1="RFinger23" link2="LFinger11" reason="Never" />
<disable_collisions link1="RFinger23" link2="LShoulder" reason="Never" />
<disable_collisions link1="RFinger23" link2="r_wrist" reason="Never" />
<disable_collisions link1="RFinger23" link2="l_ankle" reason="Never" />
<disable_collisions link1="RFinger23" link2="neck" reason="Never" />
<disable_collisions link1="RFinger23" link2="r_wrist" 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" />
<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="helmet" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="odroid" reason="Never" />
<disable_collisions link1="RHip" link2="odroid_bag" 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="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="torso" reason="Default" />
<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="helmet" reason="Never" />
<disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipYaw" link2="r_ankle" 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="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="RKnee" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RThumb1" reason="Never" />
<disable_collisions link1="RShoulder" link2="RThumb2" reason="Never" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<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="odroid" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
@ -486,61 +455,32 @@
<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" />
<disable_collisions link1="RThumb1" link2="RThumb2" reason="Adjacent" />
<disable_collisions link1="RThumb1" link2="l_ankle" reason="Never" />
<disable_collisions link1="RThumb1" link2="l_sole" reason="Never" />
<disable_collisions link1="RThumb1" link2="neck" reason="Never" />
<disable_collisions link1="RThumb1" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RThumb2" link2="l_ankle" reason="Never" />
<disable_collisions link1="RThumb2" link2="neck" reason="Never" />
<disable_collisions link1="RThumb2" link2="r_wrist" reason="Default" />
<disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
<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="odroid_bag" reason="Default" />
<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="Default" />
<disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="l_sole" reason="Never" />
<disable_collisions link1="helmet" link2="neck" reason="Never" />
<disable_collisions link1="helmet" link2="odroid" reason="Never" />
<disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
<disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="r_sole" reason="Never" />
<disable_collisions link1="helmet" link2="torso" reason="Never" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<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" />
<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="odroid" link2="odroid_bag" reason="Adjacent" />
<disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid" link2="torso" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
<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_common/nao_dcm_description/urdf/modules/helmet.xacro
View File

@ -1,5 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
<xacro:macro name="visuals_collisions_helmet" params="">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<!-- <collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision> -->
</xacro:macro>
<joint name="head-helmet" type="fixed">
<parent link="gaze"/>
<child link="helmet"/>

7
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro
View File

@ -10,9 +10,10 @@
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0.05" rpy="${PI_2} 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/>
<!-- <mesh filename="package://nao_dcm_description/meshes/helmet_xtion.dae"/> -->
<cylinder radius="0.01" length="0.14"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -33,6 +34,7 @@
<link name="xtion"/>
<!-- GAZEBO SPECIFIC FOR XTION -->
<xacro:if value="${use_gazebo}">
<gazebo reference="helmet-xtion">
<sensor type="depth" name="xtion">
<always_on>true</always_on>
@ -69,4 +71,5 @@
</plugin>
</sensor>
</gazebo>
</xacro:if>
</robot>

10
nao_dcm_common/nao_dcm_description/urdf/modules/odroid_bag.xacro
View File

@ -10,9 +10,10 @@
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.02 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid_bag.dae" scale="${scale} ${scale} ${scale}"/>
<!-- <mesh filename="package://nao_dcm_description/meshes/odroid_bag.dae" scale="${scale} ${scale} ${scale}"/> -->
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="LightGrey"/>
</collision>
@ -27,9 +28,10 @@
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0.01 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid.dae" scale="${scale} ${scale} ${scale}"/>
<!-- <mesh filename="package://nao_dcm_description/meshes/odroid.dae" scale="${scale} ${scale} ${scale}"/> -->
<box size="0.01 0.01 0.01"/>
</geometry>
<material name="LightGrey"/>
</collision>

3
nao_dcm_common/nao_dcm_description/urdf/modules/robot.xacro
View File

@ -11,6 +11,7 @@
<xacro:property name="use_xtion" value="true" />
<xacro:property name="use_odroid" value="true" />
<xacro:property name="use_hector_imu" value="false" />
<xacro:property name="use_gazebo" value="true" />
<xacro:property name="effort_type1" value="0.0161" />
<xacro:property name="effort_type2" value="0.0049" />
<xacro:property name="effort_type3" value="0.0062" />
@ -30,7 +31,9 @@
</xacro:unless>
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:if value="${use_gazebo}">
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
</xacro:if>
<!-- Load xacro modules/parts of the robot -->
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/torso.xacro" />

17
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
View File

@ -27,23 +27,6 @@
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
<xacro:macro name="visuals_collisions_helmet" params="">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/helmet.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:macro>
<xacro:macro name="visuals_collisions_torso" params="">
<xacro:unless value="${nao_meshes}">
<visual>