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ubi-agni / human_hand

modular, articulated human hand model
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Added urdf_tactile as an exec dependency #12

Closed guihomework closed 1 year ago

guihomework commented 1 year ago

since human_hand_description relies on <tactile> elements in URDF, I believe one should add urdf_tactile as an exec_depend

rhaschke commented 1 year ago

That's debatable. Sure, to read the tactile tags, one needs urdf_tactile. But you can perfectly use the hand description without that feature as well. If you impose this dependency, you can't use the model without tactile anymore.

guihomework commented 1 year ago

I had not thought of this possibility. I will close this PR. I will add the dependency in our fork because the dependency is required for our stack.

Maybe one should even remove the taxels from this package, and keep them in a separate one, as an addition to the human_hand. I did not verify, but I feel it could be possible to have the same frame names as the human_hand_description in a separate model only including taxels, and benefit from the TFs published for the hand model. The superposing of taxels and human hand model is done within the RViz scene by 2 different plugins anyway, so they might as well read 2 different _robotdescription, one of which only requires urdf_tactile.

I will see that second option with my team.

rhaschke commented 1 year ago

Maybe one should even remove the taxels from this package, and keep them in a separate one

Interesting idea. However, tactile_merger aka contact_force_estimator might need to know both, the default URDF and the tactile URDF in order to fuse taxels on different links (in future). As the tactile tags don't harm, I suggest keeping it like this.