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shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.
GNU General Public License v2.0
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bad collision model for biotac tip #309

Closed guihomework closed 9 years ago

guihomework commented 9 years ago

in srh_ur10 model, the fingertips can penetrate the upperarm up to the mounting adapter of the biotac ( green part penetrates, black part in collision)

biotac_badcollision_model

seems like the standard finger collision is used for biotac (not new version). should be fixed with a simplified biotac tip mesh or cylinder+sphere.

beatrizleon commented 9 years ago

@guihomework

We have tested the model in rviz and in gazebo and could not reproduce the problem.

Here is the rviz screenshot showing that the collision happened in red: collisionrviz

And here is a small video showing the collision happening in gazebo: gifrecord_2015-06-12_155543

guihomework commented 9 years ago

@beatrizleon thanks for checking, that was a quick closing, I did not even have time to look at it a second time. Will do that this week end, maybe updated link names fixed the collision now ?

I will probably comment here to confirm it is fixed or give more inputs on that issue.