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Adds more accurate hand/finger collision geometries
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This commit replaces the more bold finger collision mesh with the more
accurate version that is found in the
[AndrejOrsula/panda_ign](https://github.com/AndrejOrsula/panda_ign/blob/master/panda/meshes/collision/finger.stl)
repository. It further replaces the shape collision geometries by meshes
in the panda_gazebo.xacro file.
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@rickstaa
rickstaa committed Aug 13, 2021
1 parent 49701ed commit 8d099f9
Showing 1 changed file with 13 additions and 45 deletions.
58 changes: 13 additions & 45 deletions franka_description/robots/panda_gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,7 @@
<!-- Estimated guesses from CAD -->
<origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
<mass value="0.629769"/>
<inertia ixx="0.00315" ixy="8.2904E-07" ixz="0.00015"
iyy="0.00388" iyz="8.2299E-06"
izz="0.004285" />
<inertia ixx="0.00315" ixy="8.2904E-07" ixz="0.00015" iyy="0.00388" iyz="8.2299E-06" izz="0.004285" />
</inertial>
</link>

Expand All @@ -51,9 +49,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
<mass value="4.970684"/>
<inertia ixx="0.70337" ixy="-0.00013900" ixz="0.0067720"
iyy="0.70661" iyz="0.019169"
izz="0.0091170" />
<inertia ixx="0.70337" ixy="-0.00013900" ixz="0.0067720" iyy="0.70661" iyz="0.019169" izz="0.0091170" />
</inertial>
</link>

Expand Down Expand Up @@ -83,9 +79,7 @@
<inertial>
<origin rpy="0 0 0" xyz=" -0.003141 -0.02872 0.003495"/>
<mass value="0.646926"/>
<inertia ixx="0.0079620" ixy="-3.9250e-3" ixz="1.0254e-02"
iyy="2.8110e-02" iyz="7.0400e-04"
izz="2.5995e-02" />
<inertia ixx="0.0079620" ixy="-3.9250e-3" ixz="1.0254e-02" iyy="2.8110e-02" iyz="7.0400e-04" izz="2.5995e-02" />
</inertial>
</link>

Expand Down Expand Up @@ -115,9 +109,7 @@
<inertial>
<origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
<mass value="3.228604"/>
<inertia ixx="3.7242e-02" ixy="-4.7610e-03" ixz="-1.1396e-02"
iyy="3.6155e-02" iyz="-1.2805e-02"
izz="1.0830e-02" />
<inertia ixx="3.7242e-02" ixy="-4.7610e-03" ixz="-1.1396e-02" iyy="3.6155e-02" iyz="-1.2805e-02" izz="1.0830e-02" />
</inertial>
</link>

Expand Down Expand Up @@ -147,9 +139,7 @@
<inertial>
<origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
<mass value="3.587895"/>
<inertia ixx="2.5853e-02" ixy="7.7960e-03" ixz="-1.3320e-03"
iyy="1.9552e-02" iyz="8.6410e-03"
izz="2.8323e-02" />
<inertia ixx="2.5853e-02" ixy="7.7960e-03" ixz="-1.3320e-03" iyy="1.9552e-02" iyz="8.6410e-03" izz="2.8323e-02" />
</inertial>
</link>

Expand Down Expand Up @@ -179,9 +169,7 @@
<inertial>
<origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
<mass value="1.225946"/>
<inertia ixx="3.5549e-02" ixy="-2.1170e-03" ixz="-4.0370e-03"
iyy="2.9474e-02" iyz="2.2900e-04"
izz="8.6270e-03" />
<inertia ixx="3.5549e-02" ixy="-2.1170e-03" ixz="-4.0370e-03" iyy="2.9474e-02" iyz="2.2900e-04" izz="8.6270e-03" />
</inertial>
</link>

Expand Down Expand Up @@ -211,9 +199,7 @@
<inertial>
<origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
<mass value="1.666555"/>
<inertia ixx="1.9640e-03" ixy="1.0900e-04" ixz="-1.1580e-03"
iyy="4.3540e-03" iyz="3.4100e-04"
izz="5.4330e-03" />
<inertia ixx="1.9640e-03" ixy="1.0900e-04" ixz="-1.1580e-03" iyy="4.3540e-03" iyz="3.4100e-04" izz="5.4330e-03" />
</inertial>
</link>

Expand Down Expand Up @@ -243,9 +229,7 @@
<inertial>
<origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
<mass value="7.35522e-01"/>
<inertia ixx="1.2516e-02" ixy="-4.2800e-04" ixz="-1.1960e-03"
iyy="1.0027e-02" iyz="-7.4100e-04"
izz="4.8150e-03"/>
<inertia ixx="1.2516e-02" ixy="-4.2800e-04" ixz="-1.1960e-03" iyy="1.0027e-02" iyz="-7.4100e-04" izz="4.8150e-03"/>
</inertial>
</link>

Expand Down Expand Up @@ -288,17 +272,14 @@
</geometry>
</visual>
<collision>
<origin xyz="0.0 0 0.0375" rpy="0 ${pi/2} ${pi/2}"/>
<geometry>
<box size="0.055 0.04 0.198" />
<mesh filename="package://franka_description/meshes/collision/hand.stl" />
</geometry>
</collision>
<inertial>
<mass value="0.73" />
<origin xyz="-0.01 0 0.03" />
<inertia ixx="0.001" ixy="0" ixz="0"
iyy="0.0025" iyz="0"
izz="0.0017" />
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017" />
</inertial>
</link>

Expand All @@ -310,15 +291,8 @@
</geometry>
</visual>
<collision>
<origin xyz="0 0.015 0.03" rpy="0 0 0"/>
<geometry>
<box size="0.03 0.005 0.047" />
</geometry>
</collision>
<collision>
<origin xyz="0 0.007 0.045" rpy="0 0 0"/>
<geometry>
<box size="0.03 0.015 0.017" />
<mesh filename="package://franka_description/meshes/collision/finger.stl" />
</geometry>
</collision>
</link>
Expand All @@ -332,15 +306,9 @@
</geometry>
</visual>
<collision>
<origin xyz="0 -0.015 0.03" rpy="0 0 0"/>
<geometry>
<box size="0.03 0.005 0.047" />
</geometry>
</collision>
<collision>
<origin xyz="0 -0.007 0.045" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<box size="0.03 0.015 0.017" />
<mesh filename="package://franka_description/meshes/collision/finger.stl" />
</geometry>
</collision>
</link>
Expand Down

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