Kinova3 PinocchioManipulatorModel Files (in progress) #4
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JakobThumm
reviewed
Feb 19, 2024
| @@ -0,0 +1,253 @@ | |||
| <robot name="GEN3_URDF_V12" version="1.0"> | |||
| <link name="base_link"> | |||
Collaborator
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Add a new material here:
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
| <axis xyz="0 0 1" /> | ||
| <limit lower="-3.14" upper="3.14" effort="9.0" velocity="0.8727" /> | ||
| </joint> | ||
| <link name="EndEffector_Link" > |
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Change this link to
<link name="EndEffector_Link" >
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.01"/>
<geometry>
<cylinder radius="0.07" length="0.11"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.11"/>
</geometry>
</collision>
</link>
This will be a slightly bigger link so that collision detection is a bit more restrictive.
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Changes to add in the Kinova3 PinocchioManipulatorModel to use the CollisionWrapper. Code in progress, no errors but still getting collisions when testing in demo scripts.