From 3f0fcdfd7a069b449648ed2f603f4279484b3a71 Mon Sep 17 00:00:00 2001
From: Krzysztof Wojciechowski <krzy.wojciecho@gmail.com>
Date: Tue, 14 Jan 2025 15:33:37 +0000
Subject: [PATCH] Fix collision model for Panda
---
.../urdf/panda_collision.urdf | 56 +++++++++++++++----
1 file changed, 46 insertions(+), 10 deletions(-)
diff --git a/robots/panda_description/urdf/panda_collision.urdf b/robots/panda_description/urdf/panda_collision.urdf
index 67ed506..d886478 100644
--- a/robots/panda_description/urdf/panda_collision.urdf
+++ b/robots/panda_description/urdf/panda_collision.urdf
@@ -311,21 +311,21 @@
</geometry>
</collision>
<collision>
- <origin rpy="0 1.5707963267948966 0" xyz="0.06 0 0.082"/>
+ <origin rpy="1.57 0 -0.785" xyz="0.04 0.04 0.09"/>
<geometry>
- <cylinder length="0.01" radius="0.06"/>
+ <cylinder length="0.01" radius="0.045"/>
</geometry>
</collision>
<collision>
- <origin xyz="0.065 0 0.082"/>
+ <origin xyz="0.043535534 0.043535534 0.09"/>
<geometry>
- <sphere radius="0.06"/>
+ <sphere radius="0.045"/>
</geometry>
</collision>
<collision>
- <origin xyz="0.055 0 0.082"/>
+ <origin xyz="0.036464466 0.036464466 0.09"/>
<geometry>
- <sphere radius="0.06"/>
+ <sphere radius="0.045"/>
</geometry>
</collision>
<inertial>
@@ -369,7 +369,19 @@
<collision>
<origin rpy="1.57 0 0" xyz="0 0 3e-2"/>
<geometry>
- <cylinder length="0.25" radius="0.04"/>
+ <cylinder length="0.15" radius="0.05"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 -0.075 3e-2"/>
+ <geometry>
+ <sphere radius="0.05"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 0.075 3e-2"/>
+ <geometry>
+ <sphere radius="0.05"/>
</geometry>
</collision>
<inertial>
@@ -401,7 +413,19 @@
<collision>
<origin rpy="0 0 0" xyz="0 15e-3 3e-2"/>
<geometry>
- <cylinder length="0.07" radius="0.015"/>
+ <cylinder length="0.03" radius="0.015"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 15e-3 15e-3"/>
+ <geometry>
+ <sphere radius="0.015"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 15e-3 45e-3"/>
+ <geometry>
+ <sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
@@ -418,10 +442,22 @@
</geometry>
</visual>
<!-- screw mount -->
- <collision>
+ <collision>
<origin rpy="0 0 0" xyz="0 -15e-3 3e-2"/>
<geometry>
- <cylinder length="0.07" radius="0.015"/>
+ <cylinder length="0.03" radius="0.015"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 -15e-3 15e-3"/>
+ <geometry>
+ <sphere radius="0.015"/>
+ </geometry>
+ </collision>
+ <collision>
+ <origin xyz="0 -15e-3 45e-3"/>
+ <geometry>
+ <sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
--
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