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Update SRDF for collision model #35

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merged 2 commits into from
Aug 10, 2020
Merged

Update SRDF for collision model #35

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78d592a
Update SRDF for collision model
fwalch Jul 26, 2019
f1f294f
Disable collision checking between panda_link6 and panda_link8. Teste…
Le-Li-Franka Jun 15, 2020
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8 changes: 4 additions & 4 deletions config/panda_arm.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -28,19 +28,19 @@
<disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
<disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_link1" link2="panda_link3" reason="Default" />
<disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
<disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
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Is there a logical reason why link2 and link6, link3 and link5, link3 and link7 can collide now, but couldn't before?
You mentioned, that you use a coarser model now. The ACM should reflect actually/physically impossible collisions.

<disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
<disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
<disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link8" reason="Never" />
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Again, is there a reason for this?

<disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
<disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
<disable_collisions link1="panda_link6" link2="panda_link8" reason="Default" />
<disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />
</xacro:macro>
</robot>
8 changes: 4 additions & 4 deletions config/panda_arm_hand.srdf.xacro
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Expand Up @@ -38,16 +38,16 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
<disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Default" />
<disable_collisions link1="panda_hand" link2="panda_link8" reason="Adjacent" />
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Is there a logical reason that collision of fingers with link3 became possible now and with link8 became impossible?

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As MoveIt's master branch points out,

ros.moveit_core.robot_model.empty_collision_geometry: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
ros.moveit_core.robot_model.empty_collision_geometry: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.

For some reason you added the overly coarse collision spheres to the hand link instead of adding them to the fingers.
If you want to keep the model like that, you should either disable all collisions with these links or not disable anything.
Until recently, MoveIt would have checked against the visual geometry for these links, so disabling them simplifies matters a lot.
But at least for the (unreleased) master branch, no collision geometry is added, so these disable_collision statements are all redundant.

<disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_leftfinger" link2="panda_link8" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
<disable_collisions link1="panda_link8" link2="panda_rightfinger" reason="Never" />
</robot>