Collision meshes of LR 200id too restrictive.

Question

Collision meshes of LR 200id too restrictive.

jettan opened this issue 7 years ago · comments

The current collision meshes of the LR mate 200id are too restrictive.
In particular, I'm talking about the mesh for link2.
Link 2 is supposed to have a bigger opening such that link 4 is partly inside of the current link 2 collision mesh (example of such a joint configuration in radians: [0, 0.3, -1, 0, 1.3, 0]).

G.A. vd. Hoorn · Answer 1 · Wed Jul 26 2017 19:29:56 GMT+0800 (China Standard Time)

Take a look at ros-industrial/kuka_experimental#59, which is basically the same problem, but for KUKA Agilus KR6 and KR10.

See ros-industrial/kuka_experimental#76 for a PR that addressed that issue.

You could probably improve the collision mesh for link_2 using the bounding_mesh tool mentioned in the PR.

Jethro Tan · Answer 2 · Wed Jul 26 2017 20:02:57 GMT+0800 (China Standard Time)

Thanks, I managed to get the bounding_mesh tool to work. Will make a PR after I tested tomorrow whether the bounded mesh of link2 works and/or whether I need to also change link3/4.

G.A. vd. Hoorn · Answer 3 · Tue Aug 08 2017 23:13:32 GMT+0800 (China Standard Time)

@jettan: did your collision meshes work better?

Jethro Tan · Answer 4 · Tue Aug 08 2017 23:24:28 GMT+0800 (China Standard Time)

Yes it did, but I am hesitant to make a PR because it might be too lax (or the robot I am working with isn't mastered very accurate). The only replacement I needed in collision mesh was as you suggested link_2.