Update Franka description repo and upgrade Franka meshes #444
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| <disable_collisions link1="mount_link" link2="left_fr3_link0" reason="Never"/> | ||
| <disable_collisions link1="mount_link" link2="left_fr3_link1" reason="Never"/> | ||
| <disable_collisions link1="mount_link" link2="left_fr3_link2" reason="Never"/> | ||
| <disable_collisions link1="mount_link" link2="left_fr3_link3" reason="Never"/> |
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I think we shouldn't always disable collisions with the more distal links. For instance the wrist and gripper links can for sure collide with the mount link in some configurations. Ideally you would only need to disable collisions with the adjacent links, which I assume is link0?
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src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/franka.srdf
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Issue
https://github.com/PickNikRobotics/moveit_pro/issues/15324
Description
In this PR I switched to the official Franka description repo:
[submodule "src/external_dependencies/franka_config/franka_description"] path = src/external_dependencies/franka_config/franka_description url = https://github.com/frankarobotics/franka_description.git branch = mainI also added the Franka Duo Mount and Mesh to the dual-arm sim. The new mesh is purely aesthetic, so I disabled all collisions in the
franka.srdf. If collisions are not disabled, the "sort cubes" objective always fails.Some differences between the original repo fork and the official one required some tweaks to our own Franka URDF.
Testing
Verify that the mount mesh is now visible (see screenshots) in both the 3D view and Mujoco.
Test
kitchen_simanddual_arm_sim. Run some objectives like "sort cubes" or "write demo" and confirm that all is working.