Move split link5 into different filename (#75)

Revert the changes to panda_arm{,_hand}.urdf.
Instead, copy the changes to new files named link5split.

Author: jwnimmer-tri

franka_description/README.md

@@ -3,10 +3,10 @@
 This folder contains a drake-compatible model of the Franka Emika Panda arm.
 
 The model differs from the original ROS model and the real robot. Notably, in
-this model link 5 has been split into lower and upper sections to improve the
-ability to filter collisions around the wrist. In this model of the hand, the
-fingers are independently actuated, rather than using <mimic> tag, which Drake
-does not yet fully support.
+this the "link5split" flavor of the model, link 5 has been split into lower and
+upper sections to improve the ability to filter collisions around the wrist. In
+all flavors of the hand, the fingers are independently actuated, rather than
+using <mimic> tag, which Drake does not yet fully support.
 
 In addition, some tags unsupported by Drake have been removed, to reduce the
 burden of warning output. For URDF support details, see:
@@ -46,6 +46,13 @@ https://frankaemika.github.io/docs/control_parameters.html#limits-for-panda
 
 ### Collision Filters
 
+#### normal flavor
+
+There is collision filtering applied to ignore collisions between `(panda_link5,
+panda_link7)` and between `(panda_link6, panda_link8)`.
+
+#### link5split flavor
+
 The following collision filter groups are defined, all of which filter
 collisions within their own group:
 - Links 0, 1, 2, and 3 (`group_link0123`)

franka_description/urdf/panda_arm.urdf

@@ -326,7 +326,7 @@
     <axis xyz="0 0 1"/>
     <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" drake:acceleration="12.5"/>
   </joint>
-  <link name="panda_link5_lower">
+  <link name="panda_link5">
     <inertial>
       <mass value="2.74"/>
       <origin xyz="0 0.0610427 -0.104176" rpy="0 0 0"/>
@@ -350,6 +350,12 @@
         <sphere radius="0.06"/>
       </geometry>
     </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.09 -0.055"/>
+      <geometry>
+        <sphere radius="0.035"/>
+      </geometry>
+    </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 0.0850 -0.08"/>
       <geometry>
@@ -381,49 +387,36 @@
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.05 -0.20"/>
-      <geometry>
-        <sphere radius="0.055"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint5" type="revolute">
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
-    <parent link="panda_link4"/>
-    <child link="panda_link5_lower"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.610" drake:acceleration="15.0"/>
-  </joint>
-  <link name="panda_link5_upper">
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.09 -0.055"/>
+      <origin rpy="0 0 0" xyz="0.0 0.08 -0.02"/>
       <geometry>
-        <sphere radius="0.035"/>
+        <sphere radius="0.05"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.08 -0.02"/>
+      <origin rpy="0 0 0" xyz="0.0 0.08 -0.0"/>
       <geometry>
-        <sphere radius="0.05"/>
+        <sphere radius="0.055"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.08 0.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.05 -0.20"/>
       <geometry>
         <sphere radius="0.055"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.07 0.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.07 -0.0"/>
       <geometry>
         <sphere radius="0.06"/>
       </geometry>
     </collision>
   </link>
-  <joint name="panda_joint5_lower_upper" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5_lower"/>
-    <child link="panda_link5_upper"/>
+  <joint name="panda_joint5" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.610" drake:acceleration="15.0"/>
   </joint>
   <link name="panda_link6">
     <inertial>
@@ -470,7 +463,7 @@
   </link>
   <joint name="panda_joint6" type="revolute">
     <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5_upper"/>
+    <parent link="panda_link5"/>
     <child link="panda_link6"/>
     <axis xyz="0 0 1"/>
     <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.610" drake:acceleration="20.0"/>
@@ -604,41 +597,14 @@
       <drake:rotor_inertia value="0.0000205544064" />
     </actuator>
   </transmission>
-  <drake:collision_filter_group name="group_link0123">
-    <drake:member link="panda_link0"/>
-    <drake:member link="panda_link1"/>
-    <drake:member link="panda_link2"/>
-    <drake:member link="panda_link3"/>
-    <drake:ignored_collision_filter_group name="group_link0123"/>
-  </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link1234">
-    <drake:member link="panda_link1"/>
-    <drake:member link="panda_link2"/>
-    <drake:member link="panda_link3"/>
-    <drake:member link="panda_link4"/>
-    <drake:ignored_collision_filter_group name="group_link1234"/>
-  </drake:collision_filter_group>
-  <!-- TODO(calderpg-tri) See if this group could be extended to 345678. -->
-  <drake:collision_filter_group name="group_link3456">
-    <drake:member link="panda_link3"/>
-    <drake:member link="panda_link4"/>
-    <drake:member link="panda_link5_lower"/>
-    <drake:member link="panda_link5_upper"/>
-    <drake:member link="panda_link6"/>
-    <drake:ignored_collision_filter_group name="group_link3456"/>
-  </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link567">
-    <drake:member link="panda_link5_lower"/>
-    <drake:member link="panda_link5_upper"/>
-    <drake:member link="panda_link6"/>
+  <drake:collision_filter_group name="group_link57">
+    <drake:member link="panda_link5"/>
     <drake:member link="panda_link7"/>
-    <drake:ignored_collision_filter_group name="group_link567"/>
+    <drake:ignored_collision_filter_group name="group_link57"/>
   </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link5upper678">
-    <drake:member link="panda_link5_upper"/>
+  <drake:collision_filter_group name="group_link68">
     <drake:member link="panda_link6"/>
-    <drake:member link="panda_link7"/>
     <drake:member link="panda_link8"/>
-    <drake:ignored_collision_filter_group name="group_link5upper678"/>
+    <drake:ignored_collision_filter_group name="group_link68"/>
   </drake:collision_filter_group>
 </robot>

franka_description/urdf/panda_arm_hand.urdf

@@ -326,7 +326,7 @@
     <axis xyz="0 0 1"/>
     <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" drake:acceleration="12.5"/>
   </joint>
-  <link name="panda_link5_lower">
+  <link name="panda_link5">
     <inertial>
       <mass value="2.74"/>
       <origin xyz="0 0.0610427 -0.104176" rpy="0 0 0"/>
@@ -350,6 +350,12 @@
         <sphere radius="0.06"/>
       </geometry>
     </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.09 -0.055"/>
+      <geometry>
+        <sphere radius="0.035"/>
+      </geometry>
+    </collision>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 0.0850 -0.08"/>
       <geometry>
@@ -381,49 +387,36 @@
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.05 -0.20"/>
-      <geometry>
-        <sphere radius="0.055"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint5" type="revolute">
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
-    <parent link="panda_link4"/>
-    <child link="panda_link5_lower"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.610" drake:acceleration="15.0"/>
-  </joint>
-  <link name="panda_link5_upper">
-    <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.09 -0.055"/>
+      <origin rpy="0 0 0" xyz="0.0 0.08 -0.02"/>
       <geometry>
-        <sphere radius="0.035"/>
+        <sphere radius="0.05"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.08 -0.02"/>
+      <origin rpy="0 0 0" xyz="0.0 0.08 -0.0"/>
       <geometry>
-        <sphere radius="0.05"/>
+        <sphere radius="0.055"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.08 0.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.05 -0.20"/>
       <geometry>
         <sphere radius="0.055"/>
       </geometry>
     </collision>
     <collision>
-      <origin rpy="0 0 0" xyz="0.0 0.07 0.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.07 -0.0"/>
       <geometry>
         <sphere radius="0.06"/>
       </geometry>
     </collision>
   </link>
-  <joint name="panda_joint5_lower_upper" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5_lower"/>
-    <child link="panda_link5_upper"/>
+  <joint name="panda_joint5" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.610" drake:acceleration="15.0"/>
   </joint>
   <link name="panda_link6">
     <inertial>
@@ -470,7 +463,7 @@
   </link>
   <joint name="panda_joint6" type="revolute">
     <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5_upper"/>
+    <parent link="panda_link5"/>
     <child link="panda_link6"/>
     <axis xyz="0 0 1"/>
     <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.610" drake:acceleration="20.0"/>
@@ -730,41 +723,14 @@
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
-  <drake:collision_filter_group name="group_link0123">
-    <drake:member link="panda_link0"/>
-    <drake:member link="panda_link1"/>
-    <drake:member link="panda_link2"/>
-    <drake:member link="panda_link3"/>
-    <drake:ignored_collision_filter_group name="group_link0123"/>
-  </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link1234">
-    <drake:member link="panda_link1"/>
-    <drake:member link="panda_link2"/>
-    <drake:member link="panda_link3"/>
-    <drake:member link="panda_link4"/>
-    <drake:ignored_collision_filter_group name="group_link1234"/>
-  </drake:collision_filter_group>
-  <!-- TODO(calderpg-tri) See if this group could be extended to 345678. -->
-  <drake:collision_filter_group name="group_link3456">
-    <drake:member link="panda_link3"/>
-    <drake:member link="panda_link4"/>
-    <drake:member link="panda_link5_lower"/>
-    <drake:member link="panda_link5_upper"/>
-    <drake:member link="panda_link6"/>
-    <drake:ignored_collision_filter_group name="group_link3456"/>
-  </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link567">
-    <drake:member link="panda_link5_lower"/>
-    <drake:member link="panda_link5_upper"/>
-    <drake:member link="panda_link6"/>
+  <drake:collision_filter_group name="group_link57">
+    <drake:member link="panda_link5"/>
     <drake:member link="panda_link7"/>
-    <drake:ignored_collision_filter_group name="group_link567"/>
+    <drake:ignored_collision_filter_group name="group_link57"/>
   </drake:collision_filter_group>
-  <drake:collision_filter_group name="group_link5upper678">
-    <drake:member link="panda_link5_upper"/>
+  <drake:collision_filter_group name="group_link68">
     <drake:member link="panda_link6"/>
-    <drake:member link="panda_link7"/>
     <drake:member link="panda_link8"/>
-    <drake:ignored_collision_filter_group name="group_link5upper678"/>
+    <drake:ignored_collision_filter_group name="group_link68"/>
   </drake:collision_filter_group>
 </robot>