Ahaffemayer/add panda collision #242
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Hi ! This project doesn't usually accept pull requests on the main branch. |
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…1/example-robot-data into ahaffemayer/add-panda-collision
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Here's the modified version with hand and fingers as capsules.
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| # Iterate through geometry objects in the collision model | ||
| for geom_object in cmodel.geometryObjects: | ||
| geometry = geom_object.geometry | ||
| base_name = geom_object.name[:-1] # Remove the last character from the name |
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This comes from the URDF parsing.
If for an urdf link we have several collision geometry objects, they'll be listed as object_0, object_1, ... . This is especially relevant for capsules where you find "link1_0", "link1_1", "link1_2" where one is a cylinder and the two other are spheres.
Here, we only want the name to be "link1_" without the number, so we get rid of the last one.
…1/example-robot-data into ahaffemayer/add-panda-collision
Co-authored-by: Guilhem Saurel <[email protected]>
Co-authored-by: Guilhem Saurel <[email protected]>
for more information, see https://pre-commit.ci
for more information, see https://pre-commit.ci
…1/example-robot-data into ahaffemayer/add-panda-collision
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Thank you for the review, should be good to go now. |
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Hello, here's a PR to have the panda robot with the capsules in its collision model directly in example robot data.
In this Pr is included:
I decided to have the hand and the fingers described as boxes here because it's more faithful to the real representation. However, on your input, I can change and transform it into capsules.
Here's a superposed view of the visual model (with meshes) and the collision model: