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Added the necessary srdf elements to disable collisions with base_link #8

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Added the necessary srdf elements to disable collisions with base_link #8

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70cdc84
Added the necessary srdf elements to disable collisions with base_link
AdarshKaran Nov 28, 2024
9a3613f
Added use_docking_adapter condition in srdf
AdarshKaran Nov 28, 2024
9c30dfd
Ensured Consistent indentations in srdf
AdarshKaran Dec 5, 2024
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19 changes: 10 additions & 9 deletions neo_ur_moveit_config/srdf/mpo_500.srdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -41,15 +41,16 @@
</group_state>

<!--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="base_footprint" link2="cabinet_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="lidar_1_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_500_omni_wheel_back_left_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_500_omni_wheel_back_right_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_500_omni_wheel_front_left_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_500_omni_wheel_front_right_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="${prefix_value}base_link_inertia" reason="Never"/>
<disable_collisions link1="base_footprint" link2="${prefix_value}shoulder_link" reason="Never"/>
<disable_collisions link1="base_link" link2="cabinet_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="lidar_1_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_500_omni_wheel_back_left_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_500_omni_wheel_back_right_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_500_omni_wheel_front_left_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_500_omni_wheel_front_right_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="${prefix_value}base_link_inertia" reason="Never"/>
<disable_collisions link1="base_link" link2="${prefix_value}shoulder_link" reason="Never"/>

<disable_collisions link1="cabinet_link" link2="lidar_1_link" reason="Never"/>
<disable_collisions link1="cabinet_link" link2="lidar_2_link" reason="Never"/>
<disable_collisions link1="cabinet_link" link2="mpo_500_omni_wheel_back_left_link" reason="Never"/>
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73 changes: 48 additions & 25 deletions neo_ur_moveit_config/srdf/mpo_700.srdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mpo_700">
<xacro:arg name="prefix" default=""/>
<xacro:property name="prefix_value" value="$(arg prefix)"/>
<xacro:arg name="use_docking_adapter" default="false"/>

<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
Expand All @@ -23,35 +24,39 @@
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="up" group="ur_manipulator">
<joint name="${prefix_value}elbow_joint" value="0" />
<joint name="${prefix_value}shoulder_lift_joint" value="-1.5707" />
<joint name="${prefix_value}shoulder_pan_joint" value="0" />
<joint name="${prefix_value}wrist_1_joint" value="-1.5707" />
<joint name="${prefix_value}wrist_2_joint" value="0" />
<joint name="${prefix_value}wrist_3_joint" value="0" />
<joint name="${prefix_value}elbow_joint" value="0" />
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are those additional indentation?

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Yes Pradheep

<joint name="${prefix_value}shoulder_lift_joint" value="-1.5707" />
<joint name="${prefix_value}shoulder_pan_joint" value="0" />
<joint name="${prefix_value}wrist_1_joint" value="-1.5707" />
<joint name="${prefix_value}wrist_2_joint" value="0" />
<joint name="${prefix_value}wrist_3_joint" value="0" />
</group_state>
<group_state name="test_configuration" group="ur_manipulator">
<joint name="${prefix_value}elbow_joint" value="1.4" />
<joint name="${prefix_value}shoulder_lift_joint" value="-1.62" />
<joint name="${prefix_value}shoulder_pan_joint" value="1.54" />
<joint name="${prefix_value}wrist_1_joint" value="-1.2" />
<joint name="${prefix_value}wrist_2_joint" value="-1.6" />
<joint name="${prefix_value}wrist_3_joint" value="-0.11" />
<joint name="${prefix_value}elbow_joint" value="1.4" />
<joint name="${prefix_value}shoulder_lift_joint" value="-1.62" />
<joint name="${prefix_value}shoulder_pan_joint" value="1.54" />
<joint name="${prefix_value}wrist_1_joint" value="-1.2" />
<joint name="${prefix_value}wrist_2_joint" value="-1.6" />
<joint name="${prefix_value}wrist_3_joint" value="-0.11" />
</group_state>

<!--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="base_footprint" link2="cabinet_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="lidar_1_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_700_caster_back_left_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_700_caster_back_right_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_700_caster_front_left_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_700_caster_front_right_link" reason="Adjacent"/>
<disable_collisions link1="base_footprint" link2="mpo_700_wheel_back_left_link" reason="Never"/>
<disable_collisions link1="base_footprint" link2="mpo_700_wheel_back_right_link" reason="Never"/>
<disable_collisions link1="base_footprint" link2="mpo_700_wheel_front_left_link" reason="Never"/>
<disable_collisions link1="base_footprint" link2="mpo_700_wheel_front_right_link" reason="Never"/>
<disable_collisions link1="base_footprint" link2="${prefix_value}base_link_inertia" reason="Never"/>
<disable_collisions link1="base_footprint" link2="${prefix_value}shoulder_link" reason="Never"/>
<disable_collisions link1="base_link" link2="cabinet_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="lidar_1_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="docking_adapter_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_700_caster_back_left_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_700_caster_back_right_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_700_caster_front_left_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_700_caster_front_right_link" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="mpo_700_wheel_back_left_link" reason="Never"/>
<disable_collisions link1="base_link" link2="mpo_700_wheel_back_right_link" reason="Never"/>
<disable_collisions link1="base_link" link2="mpo_700_wheel_front_left_link" reason="Never"/>
<disable_collisions link1="base_link" link2="mpo_700_wheel_front_right_link" reason="Never"/>
<disable_collisions link1="base_link" link2="${prefix_value}base_link_inertia" reason="Never"/>
<disable_collisions link1="base_link" link2="${prefix_value}base_link" reason="Never"/>
<disable_collisions link1="base_link" link2="${prefix_value}shoulder_link" reason="Never"/>

<disable_collisions link1="cabinet_link" link2="lidar_1_link" reason="Adjacent"/>
<disable_collisions link1="cabinet_link" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="cabinet_link" link2="mpo_700_caster_back_left_link" reason="Never"/>
Expand All @@ -64,6 +69,24 @@
<disable_collisions link1="cabinet_link" link2="mpo_700_wheel_front_right_link" reason="Never"/>
<disable_collisions link1="cabinet_link" link2="${prefix_value}base_link_inertia" reason="Adjacent"/>
<disable_collisions link1="cabinet_link" link2="${prefix_value}shoulder_link" reason="Never"/>

<!--Use docking adapter-->
<xacro:if value="$(arg use_docking_adapter)">
<disable_collisions link1="docking_adapter_link" link2="lidar_1_link" reason="Never"/>
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Could you please check if the indentation are consistent?

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I have updated it to ensure consistent indentations now.

<disable_collisions link1="docking_adapter_link" link2="lidar_2_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_caster_back_left_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_caster_back_right_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_caster_front_left_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_caster_front_right_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_wheel_back_left_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_wheel_back_right_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_wheel_front_left_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="mpo_700_wheel_front_right_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="ur10base_link_inertia" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="ur10shoulder_link" reason="Never"/>
<disable_collisions link1="docking_adapter_link" link2="ur10upper_arm_link" reason="Never"/>
</xacro:if>

<disable_collisions link1="lidar_1_link" link2="lidar_2_link" reason="Adjacent"/>
<disable_collisions link1="lidar_1_link" link2="mpo_700_caster_back_left_link" reason="Never"/>
<disable_collisions link1="lidar_1_link" link2="mpo_700_caster_back_right_link" reason="Never"/>
Expand Down