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ROBOTIS-GIT / turtlebot3_manipulation

OpenManipulator with TurtleBot3 packages
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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Newer version of open manipulator arm – urdf and meshes #69

Open lmendyk opened 1 year ago

lmendyk commented 1 year ago

Is there a chance to have an updated version of the model in respect to meshes and especially the geometry. I have a new version which robot arm looks like this https://emanual.robotis.com/assets/images/platform/openmanipulator_x/OpenManipulator_Introduction.jpg But the model look more like this https://emanual.robotis.com/assets/images/platform/turtlebot3/manipulation/hardware_setup.png

The problem is not only that the turtlebot3_manipulation looks in rviz differently than in reality but I also suspect that this may be the reason why trajectories planned and controlled by moveIt when executed experience collisions with the base of the turtlebot which are not visible/detected by the planning stack. I suspect that it may be caused by differences in geometry which are not huge but enough to have collisions not comprehend by the moveIt stack.

sunghowoo commented 2 days ago

@lmendyk Apologies, but we currently do not manage an updated version of the mesh. While the new robot arm does have relatively rounded joints, if you could provide more details on which specific movements are causing collisions with the TurtleBot's base, we would be happy to investigate and debug the issue further.