Moves finger collision geometries to the finger joints

This commit moves the finger collision geometries to the finger joints. This was done to prevent errors in third party libaries. Moveit for example expects a collision geometry in each joint that can be controlled.
frankaemika · Aug 18, 2021 · bfa952d · bfa952d
1 parent 356ec11
commit bfa952d
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Showing 2 changed files with 21 additions and 15 deletions.
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
@@ -33,39 +33,45 @@
           <sphere radius="${0.04+safety_distance}"  />
         </geometry>
       </collision>
-      <collision>
-        <origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
+    </link>
+    <link name="${ns}_leftfinger">
+      <visual>
         <geometry>
-          <cylinder radius="${0.02+safety_distance}" length="0.1" />
+          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
-      </collision>
+      </visual>
       <collision>
-        <origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
+        <origin xyz="0 0.01 0.0415" rpy="0 0 0"/>
         <geometry>
           <sphere radius="${0.02+safety_distance}"  />
         </geometry>
       </collision>
       <collision>
-        <origin xyz="0 0.05 0.1" rpy="0 0 0"/>
+        <origin xyz="0 -0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
         <geometry>
-          <sphere radius="${0.02+safety_distance}"  />
+          <cylinder radius="${0.02+safety_distance}" length="0.05" />
         </geometry>
       </collision>
     </link>
-    <link name="${ns}_leftfinger">
-      <visual>
-        <geometry>
-          <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
-        </geometry>
-      </visual>
-    </link>
     <link name="${ns}_rightfinger">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
           <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
       </visual>
+      <collision>
+        <origin xyz="0 -0.01 0.0415" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="${0.02+safety_distance}"  />
+        </geometry>
+      </collision>
+      <collision>
+        <origin xyz="0 0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
+        <geometry>
+          <cylinder radius="${0.02+safety_distance}" length="0.05" />
+        </geometry>
+      </collision>
    </link>
     <joint name="${ns}_finger_joint1" type="prismatic">
       <parent link="${ns}_hand"/>

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
@@ -14,7 +14,7 @@
 
     <xacro:if value="$(arg hand)">
       <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
-      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.03"/>
+      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.0"/>
     </xacro:if>
   </xacro:unless>