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Kinovarobotics / ros_kortex

ROS packages for KINOVA® KORTEX™ robotic arms
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The gen3 lite 2f gripper's STL files are different from the actual gen3 lite 2f gripper. #297

Closed Seunghui-Shin closed 1 year ago

Seunghui-Shin commented 1 year ago

I need the kinova gen3 lite 2f gripper CAD model for my research. I know that the CAD model is available on the kortex_description folder. However, I see that the files left_finger_prox_link.STL, right_finger_prox_link.STL are different from the actual gen3 lite 2f gripper. There is an additional part that is linked from gripper_base_link.STL.

image image

The image on the left is the actual gen3 lite 2f gripper and the image on the right is the gen3 lite 2f gripper created using the CAD model. The red box is the difference between the actual gripper and the CAD model gripper.

Plus, when I load the grippers with Gazebo, the left_finger_dist_link.STL and right_finger_dist_link.STL files are just colored with blue, which is different from the real grippers. Therefore, I need the texture image files to look like the real thing.

image

Thanks!!

Seunghui-Shin commented 1 year ago

Oh, I found the full CAD model of Gen3 lite on kinova website. Thanks!!