Baxter URDF has incorrect gripper heights

[ysl208]

This might be a reason which leads to collisions and failed IK

[ysl208]

Following changes:

• For the electric gripper in baxter_common/baxter_description/urdf/right_end_effector.urdf.xacro replace extended_narrow with standard_narrow and half_round_tip with basic_soft_tip and adjust finger tip slot : apparently it should be occupied number +1(?)

[ysl208]

To check if its updated and visualise in rviz:

• in planning_context.launch change load_robot_description to true
• restart rapid_pbd baxter.launch file
• restart rviz
• add Motion Planning and look at the robot (Robot Model wouldnt have it)
• or add Planning Scene to check if collision boxes match link axis

Note: did not find out how to update RobotModel cuz it has floating finger_tips

Btw: difference between extended and narrow in

• z coordinate: finger_length: extended: "0.1127" standard : "0.075" so difference is 0.0377
• - box size: finger_box_length: extended: "0.0615" standard : "0.04" so difference is 0.0215