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ros-industrial-attic / robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
BSD 2-Clause "Simplified" License
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robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh error #166

Open onionsflying opened 5 years ago

onionsflying commented 5 years ago

To simulate robotiq_2f_85_gripper with Gazebo, I fixed the following 3 issues.

  1. The same issue as #157 .
  2. Gazebo ignores the links without inertial properties.
  3. The mesh file robotiq_arg2f_85_base_link.dae seems to be malformed. When I spawned the gripper model in Gazebo, some errors came out. 
    gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted (core dumped)

    By the way, I couldn't open robotiq_arg2f_85_base_link.dae correctly with MeshLab either.

onionsflying commented 1 year ago

@pazeshun Thanks for the reviewing. I've modified the upper values according to your comments.