This PR redistributes portion of the hand's mass into the fingers.
Rationale: Each finger is mechanically coupled to internal mechanism embedded within the hand, which effectively increases its mass. The previously used script does not account for this and used pure volume of the fingers to compute the mass.
Improvements: This improves robustness of grasping and makes fingers less susceptible to disturbances (at least with DART).
The fraction of redistributed mass can be reconfigured inside the script and currently defaults to 75%. Script also recomputes inertia and centre of mass accordingly.
This PR redistributes portion of the hand's mass into the fingers.
Rationale: Each finger is mechanically coupled to internal mechanism embedded within the hand, which effectively increases its mass. The previously used script does not account for this and used pure volume of the fingers to compute the mass.
Improvements: This improves robustness of grasping and makes fingers less susceptible to disturbances (at least with DART).
The fraction of redistributed mass can be reconfigured inside the script and currently defaults to 75%. Script also recomputes inertia and centre of mass accordingly.