Fixed self collision between palm and forearm

shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.

GNU General Public License v2.0

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Fixed self collision between palm and forearm #308

Closed guihomework closed 9 years ago

guihomework commented 9 years ago

lower palm thumb protrusion was colliding with wrist mount of the forearm. Palm was updated, also to avoid other collisions. Tested in gazebo, does not modify behavior. Not tested in ur+moveit yet (don't have this workspace here). If you want you can wait my tests this week-end.

Also updated an outdated rviz_motor.launch to use new sr_description loaders, added a joint_state publisher and robot_state_publisher for full interaction with the model

landscape-bot commented 9 years ago

Code quality remained the same when pulling 93aa194 on ubi-agni:B_wrist_collision into 5318737 on shadow-robot:indigo-devel.

landscape-bot commented 9 years ago

Code quality remained the same when pulling 7160ce0 on ubi-agni:B_wrist_collision into 5318737 on shadow-robot:indigo-devel.

guihomework commented 9 years ago

Also to tell this fix was now tested collision free in a moveit setup (ur + srh)