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osrf / drcsim

Repository for the DRC project.
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Robotiq Hands and V5 Model #490

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Mathew DeDonato (Bitbucket: mdedonato NA).

The robotiq hands are not correctly aligned on the v5 model. They still use the same offsets as the v4 model, but those do not work for v5.

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

Any more details on this?

@BillBlank any ideas?

osrf-migration commented 9 years ago

Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

We do not have a v5 model just yet, but there is a noticeable offset between the hands and the atlas skeletons. The hands in the v4 model were skewed from the center axis of the arm, however in the v5 model I think the hand mount is directly on axis with the arm.

osrf-migration commented 9 years ago

Original comment by Bill Blank (Bitbucket: BillBlank).

Yes, the hand mount is directly on axis with the arm. That is why the wrx joint on v4 has an offset but the wrx joint on v5 is 0,0,0.

Am I misunderstanding the issue?

osrf-migration commented 9 years ago

Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

atlas_v5_robotiq_hands.urdf.xacro has the following config for the robotiq hands.

it should instead be the following in order to mount the hands on the axis. I am unsure if the 0.17 value is accurate since we do not yet have the robot: