Fix Panda inertials, add SRDF #147
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… Gazebo URDF Created the Gazebo URDF from upstream franka_description package and then manually merged the inertials and new TCP frame into our packaged URDF. Should fix Gepetto#122 Note: There are two types of URDFs in the upstream repository. One also has simplified, larger collision shapes. Since we possibly want to simulate using the URDFs here, I kept the configuration using the convex meshes rather than primitive shapes.
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You need to prepend example-robot-data/robots/ to mesh paths.
Also, I think this is a good thing to update this inertia, but I'm afraid this might break benchmarks or other reproducible tests relying on the current values. But I guess we'll only have to advertise this correctly in release notes.
I don't think we need to worry about this: We haven't used it in benchmarks yet to my knowledge - and couldn't due to the zero inertials - i.e. that was the reason behind #122 and the original issue upstream in Crocoddyl about failed optimisation (due to zero inertials). |
Fixes #122