Non-penetrating and simplified collision objects

guihomework commented 8 years ago

This solves issue #172 and provides simplified meshes for collision purposes.

palm was reduced with blender decimate + manual closing unnecessary holes (tri reduced from 914 to 192)
knuckle tri was redrawn with simpler shapes around the original except penetrating part (tri reduced from 916 to 452)

fingers were not changed to keep the nice bumper collisions models and extract contacts exactly at the sensing pads.

guihomework commented 7 years ago

I might have missed the other knuckles when changing the collision. I will double check with the latest version of the sdh (with simplified transmission and such). If I remember well the problem came when I instantiated gazebo_ros_control plugin for the sdh.

guihomework commented 7 years ago

@ipa-fxm Please have a look at my comment in #172 and I can add that indeed I had not added the other knuckle mainly because gazebo 2.2.3 behaves strangely when I added them. I started 10 times my simulation with the same setting, same urdf, and sometime it exploded completely (full arm compacted at 0,0,0), sometime the sdh was exploding permanently as on the picture in the issue, sometimes it was fine. So I suppose there is something more complex happening, maybe race conditions or such in the gazebo_ros_control plugin. since in gazebo 7 in kinetic this issue does not occur, I don't need this fix anymore because we switched to kinetic. You can decide. I will push a fix to include the two other knuckles too as it makes sense to have them all updated in case you want that PR.

fmessmer commented 7 years ago

I can merge this as it does not harm...

ipa320 / schunk_modular_robotics

Non-penetrating and simplified collision objects #173