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Adaptions for frankaemika/franka_ros#199
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@rhaschke
rhaschke committed Nov 12, 2021
1 parent 2138816 commit ce87ceb
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73 changes: 47 additions & 26 deletions config/arm.xacro
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Expand Up @@ -32,30 +32,51 @@

<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0" />
<!--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="panda_link0" link2="panda_link1" reason="Adjacent" />
<disable_collisions link1="panda_link0" link2="panda_link2" reason="Never" />
<disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
<disable_collisions link1="panda_link1" link2="panda_link3" reason="Default" />
<disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
<disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
<disable_collisions link1="panda_link3" link2="panda_link5" reason="Default" />
<disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
<disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link8" reason="Never" />
<disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
<disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
<disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
<disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />
<!-- Fix self-collisions between coarse collision geometries provided by franka_description
(see https://github.com/ros-planning/panda_moveit_config/pull/35#pullrequestreview-390715967).
These collisions are handled by joint limits already and thus can be disabled here. -->
<disable_collisions link1="panda_link5" link2="panda_link8" reason="Default" />
<disable_collisions link1="panda_link6" link2="panda_link8" reason="Default" />

<xacro:macro name="collision" params="link">
<!-- Enable (environmental) collisions of ${link}_sc -->
<collision_default link="${link}_sc" allow="ALWAYS" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link0" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link1" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link2" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link3" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link4" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link5" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link6" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link7" reason="Default" />
<disable_collisions link1="${link}_sc" link2="panda_link8" reason="Default" />
</xacro:macro>
<xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link0_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link1" />
<enable_collisions link1="panda_link1_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link1_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link2" />
<enable_collisions link1="panda_link2_sc" link2="panda_link5_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link6_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link2_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link3" />
<enable_collisions link1="panda_link3_sc" link2="panda_link7_sc" />
<enable_collisions link1="panda_link3_sc" link2="panda_link8_sc" />
<xacro:collision link="panda_link4" />
<xacro:collision link="panda_link5" />
<xacro:collision link="panda_link6" />
<xacro:collision link="panda_link7" />
<xacro:collision link="panda_link8" />
</robot>
20 changes: 14 additions & 6 deletions config/hand.xacro
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Expand Up @@ -13,7 +13,7 @@
<disable_collisions link1="${finger}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand_coarse" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand_sc" reason="Default" />
</xacro:macro>
<xacro:macro name="hand">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
Expand All @@ -39,11 +39,19 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<!--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. -->
<collision_default link="panda_hand_coarse" allow="ALWAYS" />
<enable_collisions link1="panda_hand_coarse" link2="panda_link0" />
<enable_collisions link1="panda_hand_coarse" link2="panda_link1" />
<enable_collisions link1="panda_hand_coarse" link2="panda_link2" />
<enable_collisions link1="panda_hand_coarse" link2="panda_link3" />
<collision_default link="panda_hand_sc" allow="ALWAYS" />
<enable_collisions link1="panda_hand_sc" link2="panda_link0" />
<enable_collisions link1="panda_hand_sc" link2="panda_link1" />
<enable_collisions link1="panda_hand_sc" link2="panda_link2" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3" />
<!-- Disable collision of hand with all arm links. These are handled by the *_sc links -->
<disable_collisions link1="panda_hand" link2="panda_link0" />
<disable_collisions link1="panda_hand" link2="panda_link1" />
<disable_collisions link1="panda_hand" link2="panda_link2" />
<disable_collisions link1="panda_hand" link2="panda_link3" />
<disable_collisions link1="panda_hand" link2="panda_link4" />
<disable_collisions link1="panda_hand" link2="panda_link5" />
<disable_collisions link1="panda_hand" link2="panda_link6" />
<disable_collisions link1="panda_hand" link2="panda_link7" />
<disable_collisions link1="panda_hand" link2="panda_link8" />

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