From ros-users-bounces@code.ros.org Fri Mar 2 09:21:52 2012 Return-Path: X-Original-To: www-data@code.ros.org Delivered-To: www-data@code.ros.org Received: from pub5.willowgarage.com (localhost [127.0.0.1]) by pub5.willowgarage.com (Postfix) with ESMTP id EABAA168035; Fri, 2 Mar 2012 09:21:52 -0800 (PST) X-Original-To: ros-users@code.ros.org Delivered-To: ros-users@code.ros.org Received: from mail-gx0-f174.google.com (mail-gx0-f174.google.com [209.85.161.174]) by pub5.willowgarage.com (Postfix) with ESMTPS id 2487116800C for ; Fri, 2 Mar 2012 09:21:51 -0800 (PST) Received: by gghe5 with SMTP id e5so152482ggh.5 for ; Fri, 02 Mar 2012 09:21:50 -0800 (PST) Received-SPF: pass (google.com: domain of thomas.moulard@gmail.com designates 10.236.184.196 as permitted sender) client-ip=10.236.184.196; Authentication-Results: mr.google.com; spf=pass (google.com: domain of thomas.moulard@gmail.com designates 10.236.184.196 as permitted sender) smtp.mail=thomas.moulard@gmail.com; dkim=pass header.i=thomas.moulard@gmail.com Received: from mr.google.com ([10.236.184.196]) by 10.236.184.196 with SMTP id s44mr15525512yhm.9.1330708910303 (num_hops = 1); Fri, 02 Mar 2012 09:21:50 -0800 (PST) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20120113; h=mime-version:from:date:message-id:subject:to:cc:content-type; bh=iGfQuucrU6Y6bc/k5DMUFa8ms2ER2+D9o54aV54wyho=; b=oaHx1DAcuzyu3I3siYMHsPD0Nk0SMRFI1A6o6c5qYBGBIe31/iwhu2wB4yu/zAx1WB J2MfIJo6TP5/0gfL9SWDY+N4xJ1PLu35YLz13xBsz8b0laRRKLgPLgp4kMmoDKlVTnFC JSzjjkhOmLSrtCksFKQAHFvNtFyWKoXQ5Kym3/c8TWl93Rn6cixbbp7OXxcGLcVXO9Lw i1je1GN8AXArkCrpC33Tbi51Oy0XEZ53utuSMs4zMnj+po4RvbnHrZYmJfPyH+pQt2vz ob7dby83a1OeJe27pzuG4gDLmqgUQi2knjMAISfAcY3xdeco44ID5Zl6whHhJOUFm0kk rX1g== Received: by 10.236.184.196 with SMTP id s44mr12269705yhm.9.1330708910263; Fri, 02 Mar 2012 09:21:50 -0800 (PST) MIME-Version: 1.0 Received: by 10.236.187.39 with HTTP; Fri, 2 Mar 2012 09:21:30 -0800 (PST) From: Thomas Moulard Date: Fri, 2 Mar 2012 18:21:30 +0100 Message-ID: To: User discussions Content-Type: multipart/mixed; boundary=20cf303f6520e54fdf04ba45cf00 Cc: Florent Lamiraux , Antonio El Khoury Subject: [ros-users] Contact point definition in URDF format X-BeenThere: ros-users@code.ros.org X-Mailman-Version: 2.1.13 Precedence: list Reply-To: User discussions List-Id: User discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Sender: ros-users-bounces@code.ros.org Errors-To: ros-users-bounces@code.ros.org --20cf303f6520e54fdf04ba45cf00 Content-Type: text/plain; charset=UTF-8 Hello, here is another proposal to enhance humanoids robots support in ROS. When dealing with legged robots, one very important information is the list of valid contact zones, i.e. the zones which can safely support the robot. Information about soles are also required to generate walking trajectories. An example of this would be http://hal.inria.fr/docs/00/46/41/25/PDF/paper.pdf. I suggest adding to the element of URDF an optional node called "contact" which structure is very close to the geometry and collision elements. The attached document specify how this could be implemented. If you feel like this should be a REP, I can adapt this draft document to the REP format. If this new node is accepted, I can provide a set of patches for the urdf, urdf_interface and urdf_parser packages. Best, -- Thomas Moulard --20cf303f6520e54fdf04ba45cf00 Content-Type: text/plain; charset=US-ASCII; name="urdf_contact_points.txt" Content-Disposition: attachment; filename="urdf_contact_points.txt" Content-Transfer-Encoding: base64 X-Attachment-Id: f_gzbhjrmp0 VVJERiBjb250YWN0IHBvaW50cyBkZWZpbml0aW9uCi0tLS0tLS0tLS0tLS0tLS0tLS0tLS0tLS0t LS0tLQoKVVJERiBhbGxvd3MgZGlmZmVyZW50IHRhZ3MsIHRoZSBtb3N0IGltcG9ydGFudCBvbmVz IGFyZSBqb2ludCBhbmQgbGluay4KQSBsaW5rIChha2EgYm9keSkgY2FuIGluY2x1ZGUgZGlmZmVy ZW50IGtpbmQgb2YgZGF0YToKLSBnZW9tZXRyaWNhbCBzaGFwZQotIGNvbGxpc2lvbiwgYWthIGdl b21ldHJpY2FsIHNoYXBlIHVzZWQgdG8gY2hlY2sgZm9yIGNvbGxpc2lvbnMuCgpUaGVzZSBpbmZv cm1hdGlvbiBjYW4gYmUgcmVwcmVzZW50ZWQgYnkgZWl0aGVyIGEgZ2VvbWV0cmljYWwgc2hhcGUK KGNpcmNsZSwgY3lsaW5kZXIsIGJveCkgb3IgYSBtZXNoICh1c2luZyB0aGVDb2xsYWRhIGZvcm1h dCBmb3IgaW5zdGFuY2UpLgoKSSBzdWdnZXN0IGFkZGluZyBhbiBhZGRpdGlvbmFsIG5vZGUgY2Fs bGVkICJjb250YWN0IiBkZWZpbmluZyBhIHpvbmUKd2hlcmUgY29udGFjdCB3aXRoIHRoZSBlbnZp cm9ubWVudCBpcyBhbGxvd2VkLgoKRm9yIGluc3RhbmNlLCB0aGlzIHRhZyBpcyBjcnVjaWFsIHRv IGh1bWFub2lkIHJvYm90cyBhcyB0aGUga25vd2xlZGdlCm9mIHRoZSByb2JvdCBzdXBwb3J0IHBv bHlnb24gaXMgcmVxdWlyZWQgdG8gZ2VuZXJhdGUgc3RhYmxlIHdhbGtpbmcKdHJhamVjdG9yaWVz LgoKQXMgdGhpcyBjaGFuZ2UgaW50cm9kdWNlcyBhbiBvcHRpb25hbCB0YWcgaXQgZG9lcyBub3Qg YnJlYWsgdGhlIEFQSQphbmQgaXMgdmVyeSBzaW1wbGUgdG8gaW1wbGVtZW50LgoKClRoZSBjb250 ZW50IG9mIGEgImNvbnRhY3QiIG5vZGUgZGVmaW5lcyB3aGVyZSBhIGNvbnRhY3QgaXMgYWxsb3dl ZCBpbgp0aGUgc2FtZSB3YXkgdGhhbiB0aGUgc2hhcGVzIHVzZWQgZm9yIGdlb21ldHJ5IG9yIGNv bGxpc2lvbi4gU2VlIHRoZQpleGFtcGxlIGFuZCB0aGUgVVJERiBkb2N1bWVudGF0aW9uIGZvciBt b3JlIGluZm9ybWF0aW9uLgoKRXhhbXBsZToKCjxsaW5rIG5hbWU9ImZvbyI+CiA8Y29udGFjdD4K ICA8b3JpZ2luIHh5ej0iMCAwIDAiIHJweT0iMCAwIDAiIC8+CiAgPGdlb21ldHJ5PgogICA8Ym94 IHNpemU9IjEgMiAzIiAvPgogIDwvZ2VvbWV0cnk+CiAgPGxpbWl0IG5vcm1hbF9mb3JjZT0iNTAw IiAvPgogPC9jb250YWN0PgoKIDxjb250YWN0PgogIDxvcmlnaW4geHl6PSIxIDAgMCIgcnB5PSIw IDAgMCIgLz4KICA8Z2VvbWV0cnk+CiAgIDxib3ggc2l6ZT0iMiAzIDQiIC8+CiAgPC9nZW9tZXRy eT4KICA8bGltaXQgbm9ybWFsX2ZvcmNlPSIzMDAiIC8+CiA8L2NvbnRhY3Q+CjwvbGluaz4KCkdy YW1tYXIgZXh0ZW5zaW9uOgoKVGhlIGNvbnRhY3QgZWxlbWVudCBoYXMgZm9sbG93aW5nIGVsZW1l bnRzOgoKIDxvcmlnaW4+IChvcHRpb25hbDogZGVmYXVsdHMgdG8gaWRlbnRpdHkgaWYgbm90IHNw ZWNpZmllZCkKCiAgIFRoaXMgaXMgdGhlIHRyYW5zZm9ybSBmcm9tIHRoZSBwYXJlbnQgbGluayB0 byB0aGUgY2hpbGQgbGluay4gVGhlCiAgIGpvaW50IGlzIGxvY2F0ZWQgYXQgdGhlIG9yaWdpbiBv ZiB0aGUgY2hpbGQgbGluaywgYXMgc2hvd24gaW4gdGhlCiAgIGZpZ3VyZSBhYm92ZS4KCiAgICAg IHh5eiAob3B0aW9uYWw6IGRlZmF1bHRzIHRvIHplcm8gdmVjdG9yKQoKICAgICAgcnB5IChvcHRp b25hbDogZGVmYXVsdHMgJ3RvIHplcm8gdmVjdG9yICdpZiBub3Qgc3BlY2lmaWVkKQogICAgICBS ZXByZXNlbnRzIHRoZSByb3RhdGlvbiBhcm91bmQgZml4ZWQgYXhpczogZmlyc3Qgcm9sbCBhcm91 bmQgeCwKICAgICAgdGhlbiBwaXRjaCBhcm91bmQgeSBhbmQgZmluYWxseSB5YXcgYXJvdW5kIHou IEFsbCBhbmdsZXMgYXJlIHNwZWNpZmllZAogICAgICBpbiByYWRpYW5zLgoKICAgPGdlb21ldHJ5 PiAocmVxdWlyZWQpCiAgICAgIFRoZSBzaGFwZSBvZiB0aGUgY29udGFjdCBzdXJmYWNlLiBUaGlz IGNhbiBiZSBvbmUgb2YgdGhlIGZvbGxvd2luZzoKCiAgICAgIDxib3g+CiAgICAgIHNpemUgYXR0 cmlidXRlIGNvbnRhaW5zIHRoZSB0aHJlZSBzaWRlIGxlbmd0aHMgb2YgdGhlIGJveC4gVGhlCiAg ICAgIG9yaWdpbiBvZiB0aGUgYm94IGlzIGluIGl0cyBjZW50ZXIuCgogICAgICBUaGUgYm94IG5v cm1hbHMgbXVzdCBiZSBjb25zaWRlcmVkIGFzIG9ydGhvZ29uYWwgdG8gdGhlIGJveAogICAgICBz dXJmYWNlLCBnb2luZyB0b3dhcmQgdGhlIG91dHNpZGUuCgogICAgICA8Y3lsaW5kZXI+CgogICAg ICBTcGVjaWZ5IHRoZSByYWRpdXMgYW5kIGxlbmd0aC4gVGhlIG9yaWdpbiBvZiB0aGUgY3lsaW5k ZXIgaXMgaW4KICAgICAgaXRzIGNlbnRlci4KCiAgICAgIFRoZSBjeWxpbmRlciBub3JtYWxzIG11 c3QgYmUgY29uc2lkZXJlZCBhcyBvcnRob2dvbmFsIHRvIHRoZSBjeWxpbmRlcgogICAgICBzdXJm YWNlLCBnb2luZyB0b3dhcmQgdGhlIG91dHNpZGUuCgoKICAgICAgPHNwaGVyZT4KICAgICAgU3Bl Y2lmeSB0aGUgcmFkaXVzLiBUaGUgb3JpZ2luIG9mIHRoZSBzcGhlcmUgaXMgaW4gaXRzIGNlbnRl ci4KCiAgICAgIFRoZSBzcGhlcmUgbm9ybWFscyBtdXN0IGJlIGNvbnNpZGVyZWQgYXMgb3J0aG9n b25hbCB0byB0aGUgc3BoZXJlCiAgICAgIHN1cmZhY2UsIGdvaW5nIHRvd2FyZCB0aGUgb3V0c2lk ZS4KCgogICAgICA8bWVzaD4KICAgICAgQSB0cmltZXNoIGVsZW1lbnQgc3BlY2lmaWVkIGJ5IGEg ZmlsZW5hbWUsIGFuZCBhbiBvcHRpb25hbCBzY2FsZSB0aGF0CiAgICAgIHNjYWxlcyB0aGUgbWVz aCdzIGF4aXMtYWxpZ25lZC1ib3VuZGluZy1ib3guIFRoZSBtZXNoIGZpbGUgaXMgbm90CiAgICAg IHRyYW5zZmVycmVkIGJldHdlZW4gbWFjaGluZXMgcmVmZXJlbmNpbmcgdGhlIHNhbWUgbW9kZWwu IEl0IG11c3QgYmUgYQogICAgICBsb2NhbCBmaWxlLgoKCiAgICAgIFRoZSBzdXJmYWNlIG5vcm1h bHMgYXJlIHVzZWQgdG8gZGV0ZXJtaW5lIHZhbGlkIGNvbnRhY3QgZGlyZWN0aW9ucy4KICAgICAg SS5lLiBpZiB0aGUgZ3JvdW5kIGFuZCBjb250YWN0IHpvbmUgbm9ybWFsIHZlY3RvciBhcmUgY29s bGluZWFyIGFuZAogICAgICBvZiBvcHBvc2l0ZSBkaXJlY3Rpb25zLgoKICAgPGxpbWl0PiAob3B0 aW9uYWwpCgogICAgICBBbiBlbGVtZW50IGNhbiBjb250YWluIHRoZSBmb2xsb3dpbmcgYXR0cmli dXRlczoKCiAgICAgICBub3JtYWxfZm9yY2UgKG9wdGlvbmFsKSBBbiBhdHRyaWJ1dGUgc3BlY2lm eWluZyB0aGUgbWF4aW11bSBmb3JjZSB3aGljaAogICAgICAgY2FuIGJlIGFwcGxpZWQgb24gdGhp cyBjb250YWN0IHBvaW50LgoKSW1wb3J0YW50OiB6ZXJvLCBvbmUgb3IgbW9yZSBjb250YWN0IHBv aW50cyBjYW4gYmUgZGVmaW5lZCBwZXIgbGluay4K --20cf303f6520e54fdf04ba45cf00 Content-Type: text/plain; charset="us-ascii" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit Content-Disposition: inline _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users --20cf303f6520e54fdf04ba45cf00--