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Incorrect gripper joint visualisation for Franka Panda

asked 2019-03-07 17:05:21 -0500

akcast gravatar image

updated 2019-03-07 17:09:16 -0500


I am using the Moveit Setup assistant to generate the inertial tags and manually adding the transmission tags to get a URDF for the Franka Panda to be used in ROS Sharp. ROS Sharp like gazebo requires the inertial and transmission tags to work and Franka ROS doesnt provide such a urdf or xacro which is why I used Moveit setup assistant to generate it.

When using it, the gripper's fingers (prismatic joints) move weirdly although the arm's revolute joints move perfect. I am not sure if this is an issue with the autogenerated URDF from the moveit setup assistant? To inquire if it is an issue with ROS Sharp I have posted an issue for it there.

Here is the urdf generated with MoveIt plus the transmission tags I have added. Also here is an image showing the weird gripper positions

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Please attach images to your questions directly. If your google drive account or the files ever get deleted, this question loses quite a bit of its value.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-08 02:32:40 -0500 )edit

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answered 2019-03-08 10:19:57 -0500

akcast gravatar image

Closing this as it has been solved in ROS Sharp Issue #176

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Asked: 2019-03-07 17:05:21 -0500

Seen: 348 times

Last updated: Mar 08 '19