cadSet/text-to-cad/models/robots/tom/v2/srdf_planning_ledger.md

TOM v2 SRDF planning ledger

URDF dependency

Field	tom	tom_double	tom_with_gripper
URDF path	tom.urdf	tom_double.urdf	tom_with_gripper.urdf
SRDF output path	tom.srdf	tom_double.srdf	tom_with_gripper.srdf
Robot name	tom_v2	tom_v2_double	tom_v2_with_gripper
Root link	base_footprint	base_footprint	base_footprint
Active arm joints	base_yaw, shoulder_pitch, shoulder_roll, elbow_pitch, elbow_roll, wrist_pitch, wrist_roll; v2 rebases the named home pose at elbow_pitch=-90 deg	same, with double STS3250 effort on shoulder_pitch in URDF	same
Fixed joints	base_footprint_to_base_link	base_footprint_to_base_link	base_footprint_to_base_link, wrist_roll_to_gripper_base
Mimic joints	none	none	gripper_right_claw_slide, gripper_left_claw_slide mimic gripper_servo
Passive joints	none	none	none
Known URDF limitations	Arm collision geometry is intentionally omitted pending simplified collision models.	same	Gripper collision meshes are present; arm collision geometry is intentionally omitted.

Planning task

Field	Value
Main task	Fixed-base arm plan-to-pose / named-state review, plus gripper states for tom_with_gripper.
Primary planning group	arm
Expected end-effector or TCP	wrist_roll_link for no-gripper variants; gripper_base_link via gripper_tcp for tom_with_gripper.
Required solver or planner	Not specified; MoveIt setup remains downstream.
Position-only IK	Not specified.
Orientation constraints	Not specified.

Virtual joints

Name	Type	Parent frame	Child link	Required?	Rationale
fixed_base	fixed	world	base_footprint	yes	Matches v1 fixed-base semantics and gives MoveIt an explicit world attachment.

Planning groups

Group	Representation	Members	Base link	Tip link	Purpose
arm	chain	base_link to wrist_roll_link	base_link	wrist_roll_link	Main serial manipulator group.
tcp	link	gripper_base_link	n/a	n/a	TCP/end-effector target group for tom_with_gripper only.
gripper	joint	gripper_servo	n/a	n/a	Active gripper actuator for tom_with_gripper only.
arm_with_gripper	subgroups	arm, gripper	n/a	n/a	Convenience group for tom_with_gripper only.

End effectors

Name	End-effector group	Parent group	Parent link	Target/TCP link	Notes
gripper_tcp	tcp	arm	wrist_roll_link	gripper_base_link	Used only by tom_with_gripper; wrist_roll_to_gripper_base is the adjacent fixed attachment.

Group states

State	Group	Unit check	Limit check	Purpose
home	arm	revolute/continuous values generated in radians; elbow_pitch=-90 deg	within URDF limits	V2 calibrated home pose.
reach_forward	arm	radians; explicit v2 review pose uses base_yaw=0 deg, shoulder_pitch=90 deg, shoulder_roll=0 deg, elbow_pitch=0 deg, elbow_roll=0 deg, wrist_pitch=0 deg, wrist_roll=0 deg	within URDF limits	Forward reach review pose selected from viewer review.
inspection	arm	radians; explicit v2 review pose uses base_yaw=45 deg, shoulder_pitch=-27 deg, shoulder_roll=66 deg, elbow_pitch=-87 deg, elbow_roll=121.995 deg, wrist_pitch=83 deg, wrist_roll=-99 deg	within URDF limits	Angled inspection pose selected from viewer review.
inspection_mirrored	arm	radians; mirrors the inspection roll joints to shoulder_roll=-66 deg, elbow_roll=-121.995 deg, wrist_roll=99 deg while keeping the other inspection values	within URDF limits	Mirrored inspection pose using the same roll-sign convention as v1.
open	gripper	radians	within URDF limits	Gripper open state for tom_with_gripper.
half_closed	gripper	radians	within URDF limits	Gripper mid travel state for tom_with_gripper.
closed	gripper	radians	within URDF limits	Gripper closed state for tom_with_gripper.

Disabled collisions

Disabled collisions are generated from the linked URDF kinematic adjacency list only, excluding the world/base-footprint fixed joint. No sampled self-collision matrix is available yet.

MoveIt smoke tests

MoveIt Setup Assistant and runtime IK/path planning were not run in this change. The generated SRDFs are validated by the SRDF generator against their linked URDFs and handed to CAD Viewer for review links.

Assumptions to report

• The v2 arm planning group intentionally mirrors the v1 arm chain from base_link to wrist_roll_link.
• home keeps the v2-only elbow_pitch=-90 deg home offset.
• reach_forward is an explicit v2 viewer-selected pose with elbow_roll=0 deg.
• inspection is an explicit v2 viewer-selected pose, and inspection_mirrored flips the roll-joint signs from that pose.
• Collision disables are adjacency-only; no broad manual or sampled-safe collision matrix was added.
• tom_with_gripper uses gripper_base_link as the TCP target link, matching v1 semantics.