[ros-users] Contact point definition in URDF format

Thibault Kruse kruset at in.tum.de
Fri Mar 2 18:21:19 UTC 2012

Extending urdf with semantics has been discussed here as well:

I am not sure whether such contact points could be rethought as end
effectors in the srdf format.

> 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 <link> 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
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