Adds hand collisions.

frankaemika · Nov 9, 2018 · cecb1b7 · cecb1b7
1 parent 03faf78
commit cecb1b7
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Showing 2 changed files with 33 additions and 14 deletions.
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
@@ -15,37 +15,57 @@
         </geometry>
       </visual>
       <collision>
+        <origin xyz="0 0 0.04" rpy="0 ${pi/2} ${pi/2}"/>
         <geometry>
-          <mesh filename="package://franka_description/meshes/collision/hand.stl"/>
+          <cylinder radius="0.04" length="0.1" />
         </geometry>
       </collision>
-    </link>
-    <link name="${ns}_leftfinger">
-      <visual>
+      <collision>
+        <origin xyz="0 -0.05 0.04" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+          <sphere radius="0.04" />
         </geometry>
-      </visual>
+      </collision>
+      <collision>
+        <origin xyz="0 0.05 0.04" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="0.04" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
+        <geometry>
+          <cylinder radius="0.02" length="0.1" />
+        </geometry>
+      </collision>
       <collision>
+        <origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+          <sphere radius="0.02" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0.05 0.1" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="0.02" />
         </geometry>
       </collision>
     </link>
-    <link name="${ns}_rightfinger">
+    <link name="${ns}_leftfinger">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
           <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
       </visual>
-      <collision>
+    </link>
+    <link name="${ns}_rightfinger">
+      <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
-          <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
-      </collision>
-    </link>
+      </visual>
+   </link>
     <joint name="${ns}_finger_joint1" type="prismatic">
       <parent link="${ns}_hand"/>
       <child link="${ns}_leftfinger"/>

diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro
@@ -307,7 +307,6 @@
       <origin rpy="0 0 0" xyz="0 0 0.107"/>
       <parent link="${arm_id}_link7"/>
       <child link="${arm_id}_link8"/>
-      <axis xyz="0 0 0"/>
     </joint>
   </xacro:macro>
 </robot>