Jerry
103 lines
3.3 KiB
Markdown
103 lines
3.3 KiB
Markdown
# SRDF planning ledger
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Create or update this ledger before writing SRDF XML. The ledger makes planning assumptions explicit and helps prevent plausible but incorrect MoveIt configurations.
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## URDF dependency
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| Field | Value |
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| URDF path | |
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| SRDF output path | |
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| Robot name | |
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| URDF validated? | yes/no; tool/check |
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| Root link | |
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| Active joints | |
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| Fixed joints | |
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| Mimic joints | |
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| Passive joints | |
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| Links used for collision checking | |
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| Known URDF limitations | |
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## Planning task
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| Field | Value |
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| Main task | IK / plan-to-pose / gripper / mobile base / dual arm / other |
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| Primary planning group | |
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| Expected end-effector or TCP | |
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| Required solver or planner | |
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| Position-only IK? | yes/no; reason |
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| Orientation constraints? | yes/no; representation |
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## Virtual joints
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| Name | Type | Parent frame | Child link | Required? | Rationale |
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| | fixed / planar / floating | | | | |
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Virtual joints describe the robot root pose relative to an external frame. Use fixed for fixed-base manipulators when the planning setup needs a world attachment; use planar/floating only when the robot model requires that planning freedom.
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## Passive joints
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| Joint | URDF type | Reason passive | Affected groups | Notes |
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|---|---|---|---|---|
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Passive joints are unactuated. They should not be treated as controllable planning variables.
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## Planning groups
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| Group | Representation | Members | Base link | Tip link | Active joints | Excluded joints | Purpose | Solver expectation |
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|---|---|---|---|---|---|---|---|---|
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| | joints / links / chain / subgroups | | | | | | | |
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For serial arms, prefer a chain only when the URDF graph has a real path from base link to tip link. For subgroup groups, check for cycles and duplicate semantics.
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## End effectors
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| Name | End-effector group | Parent group | Parent link | Target/TCP link | Overlap checked? | Adjacent? | Notes |
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|---|---|---|---|---|---|---|---|
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The end-effector group should normally not share links with its parent group. The target/TCP link should be explicit when it differs from the inferred group tip.
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## Group states
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| State | Group | Joint values | Unit check | Limit check | Purpose |
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|---|---|---|---|---|---|
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| | | revolute/continuous rad; prismatic m | | | |
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Do not store degrees in SRDF group states. Do not set fixed or mimic joints in group states.
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## Disabled collisions
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| Link 1 | Link 2 | Reason | Source | Evidence | Risk note |
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| | | Adjacent / Never / Always / Default / Manual | Setup Assistant / sampled / adjacency / user | | |
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Do not infer disabled collisions from visual impression. Each pair needs a reason and provenance.
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## MoveIt smoke tests
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| Test | Group | Target link | Target pose/state | Expected result | Actual result | Notes |
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|---|---|---|---|---|---|---|
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| IK solve | | | | | | |
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| Plan-to-pose | | | | | | |
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| Named state | | | | | | |
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| Collision check | | | | | | |
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## Assumptions to report
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List every guessed or inferred value:
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- planning group membership;
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- chain base/tip;
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- target/TCP link;
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- virtual joint attachment;
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- passive joint classification;
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- group-state value;
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- disabled collision pair;
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- solver or planner setting;
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- orientation/position-only IK assumption;
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- skipped MoveIt validation.
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