Robotiq Hands and V5 Model

[osrf-migration]

Original report (archived issue) by Mathew DeDonato (Bitbucket: mdedonato NA).

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The robotiq hands are not correctly aligned on the v5 model. They still use the same offsets as the v4 model, but those do not work for v5.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Any more details on this?

@BillBlank any ideas?

[osrf-migration]

Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

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We do not have a v5 model just yet, but there is a noticeable offset between the hands and the atlas skeletons. The hands in the v4 model were skewed from the center axis of the arm, however in the v5 model I think the hand mount is directly on axis with the arm.

[osrf-migration]

Original comment by Bill Blank (Bitbucket: BillBlank).

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Yes, the hand mount is directly on axis with the arm. That is why the wrx joint on v4 has an offset but the wrx joint on v5 is 0,0,0.

Am I misunderstanding the issue?

[osrf-migration]

Original comment by Mathew DeDonato (Bitbucket: mdedonato NA).

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atlas_v5_robotiq_hands.urdf.xacro has the following config for the robotiq hands.

<xacro:robotiq_hand prefix="l_" parent="l_hand" reflect="-1">

</xacro:robotiq_hand>
<xacro:robotiq_hand prefix="r_" parent="r_hand" reflect="1">

</xacro:robotiq_hand>

it should instead be the following in order to mount the hands on the axis. I am unsure if the 0.17 value is accurate since we do not yet have the robot:

<xacro:robotiq_hand prefix="l_" parent="l_hand" reflect="-1">

</xacro:robotiq_hand>
<xacro:robotiq_hand prefix="r_" parent="r_hand" reflect="1">

</xacro:robotiq_hand>