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Improve gazebo hand/finger collision behavoir #147

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merged 1 commit into from
Oct 13, 2021
Merged

Improve gazebo hand/finger collision behavoir #147

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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

## 0.x - UNRELEASED

* Add realistic hand/finger collision geometries to the Gazebo robot description
* Add `joint_state_desired` publisher to `franka_gazebo`
* No further ROS Kinetic support, since [End-of-Life was in April 2021](http://wiki.ros.org/Distributions)

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Binary file modified franka_description/meshes/collision/finger.stl
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22 changes: 4 additions & 18 deletions franka_description/robots/panda_gazebo.xacro
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Expand Up @@ -288,9 +288,8 @@
</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>
Expand All @@ -310,15 +309,8 @@
</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 +324,9 @@
</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>
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