Jerry
74 lines
2.1 KiB
Markdown
74 lines
2.1 KiB
Markdown
# SRDF end effectors
|
|
|
|
Use this reference when creating or editing `<end_effector>` entries or preparing MoveIt2 pose-target handoffs for `$cad-viewer`.
|
|
|
|
## Concept
|
|
|
|
An end effector is a semantic designation for a tool, gripper, sensor head, or other terminal group. It is typically connected to a parent planning group through a fixed joint or attachment link.
|
|
|
|
Typical shape:
|
|
|
|
```xml
|
|
<group name="gripper">
|
|
<joint name="finger_joint"/>
|
|
</group>
|
|
|
|
<end_effector
|
|
name="gripper_eef"
|
|
parent_link="tool0"
|
|
group="gripper"
|
|
parent_group="manipulator"/>
|
|
```
|
|
|
|
## Required ledger fields
|
|
|
|
Record:
|
|
|
|
- end-effector name;
|
|
- end-effector group;
|
|
- parent planning group;
|
|
- parent link where the end effector attaches;
|
|
- target/TCP link used for IK and planning;
|
|
- whether the end-effector group overlaps the parent group;
|
|
- whether the parent link is adjacent to the end-effector group in the URDF graph.
|
|
|
|
## Checks
|
|
|
|
Before generation:
|
|
|
|
- The end-effector group exists.
|
|
- The parent group exists when specified.
|
|
- The parent link exists in the URDF.
|
|
- The end-effector group and parent group do not share links.
|
|
- The parent link is in the parent group or adjacent to the end-effector group.
|
|
- The target/TCP link is explicit when it differs from the inferred group tip.
|
|
|
|
The current runtime enforces several of these checks, but target/TCP choice remains a semantic decision. Do not rely on inference when planning to a tool center point.
|
|
|
|
## CAD Viewer MoveIt2 target link
|
|
|
|
When handing an SRDF to `$cad-viewer` for optional MoveIt2 controls, make the intended target link explicit when possible:
|
|
|
|
```json
|
|
{
|
|
"protocolVersion": 1,
|
|
"type": "srdf.solvePose",
|
|
"payload": {
|
|
"file": "robot.srdf",
|
|
"target": {
|
|
"endEffector": "gripper_eef",
|
|
"targetLink": "tool0",
|
|
"frame": "base_link",
|
|
"xyz": [0.4, 0.0, 0.2],
|
|
"quat_xyzw": [0, 0, 0, 1]
|
|
},
|
|
"moveit2": {
|
|
"planningGroup": "manipulator",
|
|
"targetLink": "tool0"
|
|
}
|
|
}
|
|
}
|
|
```
|
|
|
|
Use position-only IK only when orientation is intentionally unconstrained. CAD Viewer owns the local MoveIt2 server startup and protocol details.
|