From bf84633c9d370caf401fc9443ad9fabb462a9493 Mon Sep 17 00:00:00 2001
From: "E. Gil Jones" <gjones@willowgarage.com>
Date: Thu, 29 Mar 2012 18:06:33 -0700
Subject: [PATCH] Updating collision operations including base and making
things pretty again
---
ur5_base/launch/load_pretty.launch | 3 +
ur5_base/urdf/base.urdf.pretty.xacro | 78 ++++++++++++
ur5_moveit/config/collision_matrix.yaml | 119 ++++++++++++++----
.../launch/ur5_moveit_visualization.launch | 2 +-
4 files changed, 176 insertions(+), 26 deletions(-)
create mode 100644 ur5_base/launch/load_pretty.launch
create mode 100644 ur5_base/urdf/base.urdf.pretty.xacro
diff --git a/ur5_base/launch/load_pretty.launch b/ur5_base/launch/load_pretty.launch
new file mode 100644
index 0000000..152be57
--- /dev/null
+++ b/ur5_base/launch/load_pretty.launch
@@ -0,0 +1,3 @@
+<launch>
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_base)/urdf/base.urdf.pretty.xacro'" />
+</launch>
diff --git a/ur5_base/urdf/base.urdf.pretty.xacro b/ur5_base/urdf/base.urdf.pretty.xacro
new file mode 100644
index 0000000..e47859c
--- /dev/null
+++ b/ur5_base/urdf/base.urdf.pretty.xacro
@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+
+<robot name="ur5_with_base">
+ <include filename="$(find ur5_description)/urdf/model.urdf.pretty.xacro" />
+
+ <link name="world_link" />
+ <joint name="base_1_joint" type="fixed" >
+ <parent link="world_link" />
+ <child link= "base_1_link" />
+ </joint>
+ <joint name="base_2_joint" type="fixed" >
+ <parent link="base_1_link" />
+ <child link= "base_2_link" />
+ </joint>
+ <joint name="base_3_joint" type="fixed" >
+ <parent link="base_2_link" />
+ <child link= "base_3_link" />
+ </joint>
+ <joint name="base_4_joint" type="fixed" >
+ <parent link="base_3_link" />
+ <child link= "base_4_link" />
+ </joint>
+ <joint name="base_5_joint" type="fixed" >
+ <parent link="base_4_link" />
+ <child link= "base_5_link" />
+ </joint>
+ <joint name="robot_joint" type="fixed" >
+ <parent link="base_5_link" />
+ <child link= "base_link" />
+ <origin xyz="0.0 0.50 0.55" rpy="0.0 0.0 0.0" />
+ </joint>
+
+ <link name="base_1_link">
+ <visual>
+ <geometry>
+ <box size="0.25 0.50 0.10" />
+ </geometry>
+ <origin xyz="0.0 0.25 0.05" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <link name="base_2_link">
+ <visual>
+ <geometry>
+ <box size="0.25 0.45 0.80" />
+ </geometry>
+ <origin xyz="0.0 -0.225 0.40" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <link name="base_3_link">
+ <visual>
+ <geometry>
+ <box size="0.25 0.60 0.05" />
+ </geometry>
+ <origin xyz="0.0 0.25 0.525" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <link name="base_4_link">
+ <visual>
+ <geometry>
+ <box size="0.25 0.05 0.65" />
+ </geometry>
+ <origin xyz="0.0 0.075 0.695" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <link name="base_5_link">
+ <visual>
+ <geometry>
+ <box size="0.45 0.25 0.30" />
+ </geometry>
+ <origin xyz="0.0 -0.325 1.00" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+</robot>
diff --git a/ur5_moveit/config/collision_matrix.yaml b/ur5_moveit/config/collision_matrix.yaml
index f82feac..acdfb8b 100644
--- a/ur5_moveit/config/collision_matrix.yaml
+++ b/ur5_moveit/config/collision_matrix.yaml
@@ -1,4 +1,22 @@
default_collision_operations:
+ - object1: world_link
+ object2: base_1_link
+ operation: disable # Adjacent in collision
+ - object1: base_1_link
+ object2: base_2_link
+ operation: disable # Adjacent in collision
+ - object1: base_2_link
+ object2: base_3_link
+ operation: disable # Adjacent in collision
+ - object1: base_3_link
+ object2: base_4_link
+ operation: disable # Adjacent in collision
+ - object1: base_4_link
+ object2: base_5_link
+ operation: disable # Adjacent in collision
+ - object1: base_5_link
+ object2: base_link
+ operation: disable # Adjacent in collision
- object1: base_link
object2: shoulder_link
operation: disable # Adjacent in collision
@@ -26,6 +44,81 @@ default_collision_operations:
- object1: upper_arm_link
object2: shoulder_collision_link
operation: disable # Adjacent in collision
+ - object1: base_3_link
+ object2: base_link
+ operation: disable # Always in collision
+ - object1: shoulder_collision_link
+ object2: shoulder_link
+ operation: disable # Always in collision
+ - object1: base_1_link
+ object2: base_3_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: base_4_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: base_5_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: base_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: elbow_collision_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: shoulder_collision_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: shoulder_link
+ operation: disable # Never in collision
+ - object1: base_1_link
+ object2: upper_arm_link
+ operation: disable # Never in collision
+ - object1: base_2_link
+ object2: base_4_link
+ operation: disable # Never in collision
+ - object1: base_2_link
+ object2: base_5_link
+ operation: disable # Never in collision
+ - object1: base_2_link
+ object2: base_link
+ operation: disable # Never in collision
+ - object1: base_2_link
+ object2: shoulder_collision_link
+ operation: disable # Never in collision
+ - object1: base_2_link
+ object2: shoulder_link
+ operation: disable # Never in collision
+ - object1: base_3_link
+ object2: base_5_link
+ operation: disable # Never in collision
+ - object1: base_3_link
+ object2: shoulder_collision_link
+ operation: disable # Never in collision
+ - object1: base_3_link
+ object2: shoulder_link
+ operation: disable # Never in collision
+ - object1: base_4_link
+ object2: base_link
+ operation: disable # Never in collision
+ - object1: base_4_link
+ object2: shoulder_collision_link
+ operation: disable # Never in collision
+ - object1: base_4_link
+ object2: shoulder_link
+ operation: disable # Never in collision
+ - object1: base_5_link
+ object2: elbow_collision_link
+ operation: disable # Never in collision
+ - object1: base_5_link
+ object2: shoulder_collision_link
+ operation: disable # Never in collision
+ - object1: base_5_link
+ object2: shoulder_link
+ operation: disable # Never in collision
+ - object1: base_5_link
+ object2: upper_arm_link
+ operation: disable # Never in collision
- object1: base_link
object2: elbow_collision_link
operation: disable # Never in collision
@@ -53,39 +146,15 @@ default_collision_operations:
- object1: elbow_collision_link
object2: wrist_3_link
operation: disable # Never in collision
- - object1: forearm_link
- object2: shoulder_collision_link
- operation: disable # Never in collision
- - object1: forearm_link
- object2: shoulder_link
- operation: disable # Never in collision
- object1: forearm_link
object2: wrist_2_link
operation: disable # Never in collision
- object1: forearm_link
object2: wrist_3_link
operation: disable # Never in collision
- - object1: shoulder_collision_link
- object2: shoulder_link
- operation: disable # Never in collision
- - object1: shoulder_collision_link
- object2: wrist_1_link
- operation: disable # Never in collision
- - object1: shoulder_collision_link
- object2: wrist_2_link
- operation: disable # Never in collision
- - object1: shoulder_collision_link
- object2: wrist_3_link
- operation: disable # Never in collision
- object1: shoulder_link
object2: wrist_1_link
operation: disable # Never in collision
- - object1: shoulder_link
- object2: wrist_2_link
- operation: disable # Never in collision
- - object1: shoulder_link
- object2: wrist_3_link
- operation: disable # Never in collision
- object1: upper_arm_link
object2: wrist_1_link
operation: disable # Never in collision
@@ -97,4 +166,4 @@ default_collision_operations:
operation: disable # Never in collision
- object1: wrist_1_link
object2: wrist_3_link
- operation: disable # Never in collision
\ No newline at end of file
+ operation: disable # Never in collision
diff --git a/ur5_moveit/launch/ur5_moveit_visualization.launch b/ur5_moveit/launch/ur5_moveit_visualization.launch
index b930718..ffae6e4 100644
--- a/ur5_moveit/launch/ur5_moveit_visualization.launch
+++ b/ur5_moveit/launch/ur5_moveit_visualization.launch
@@ -2,7 +2,7 @@
<arg name="monitor_robot_state" default="false"/>
<arg name="allow_trajectory_execution" default="false"/>
- <include file="$(find ur5_description)/launch/load_pretty.launch" />
+ <include file="$(find ur5_base)/launch/load_pretty.launch" />
<!--<param name="robot_description" textfile="$(find ur5_description)/urdf/universal_or.dae" /-->
<param name="robot_description_semantic" textfile="$(find ur5_moveit)/config/ur5.srdf" />
--
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