Merge pull request #444 from PickNikRobotics/pr-update-franka-meshes

Update Franka description repo and upgrade Franka meshes

Author: marioprats

.gitmodules

@@ -25,8 +25,8 @@
 	branch = automatica_demo
 [submodule "src/external_dependencies/franka_config/franka_description"]
 	path = src/external_dependencies/franka_config/franka_description
-	url = https://github.com/sjahr/franka_description.git
-	branch = automatica_demo
+	url = https://github.com/frankarobotics/franka_description.git
+	branch = main
 [submodule "src/moveit_pro_clipseg"]
 	path = src/moveit_pro_clipseg
 	url = https://github.com/PickNikRobotics/moveit_pro_clipseg.git

src/external_dependencies/franka_config/franka_description

@@ -47,6 +47,11 @@
   <!-- Arm collisions -->
   <virtual_joint name="right_virtual_joint" type="fixed" parent_frame="right_mount" child_link="right_fr3_link0"/>
   <virtual_joint name="left_virtual_joint" type="fixed" parent_frame="left_mount" child_link="left_fr3_link0"/>
+  
+  <!-- Disable collisions of the mount link with its adjacent links -->
+  <disable_collisions link1="mount_link" link2="left_fr3_link0" reason="Never"/>
+  <disable_collisions link1="mount_link" link2="right_fr3_link0" reason="Never"/>
+
   <!-- Left Arm collisions -->
   <disable_collisions link1="left_fr3_link0" link2="left_fr3_link1" reason="Adjacent"/>
   <disable_collisions link1="left_fr3_link0" link2="left_fr3_link2" reason="Never"/>

src/moveit_pro_franka_configs/dual_arm_sim/config/moveit/franka.srdf

@@ -4,21 +4,36 @@
   <xacro:arg name="ee_id" default="franka_hand" />
   <xacro:arg name="rpy_ee" default="0 0 -0.785" />
 
+  <!-- Load Franka Duo Mount -->
+  <xacro:include filename="$(find franka_description)/robots/fr3_duo/fr3_duo_mount/fr3_duo_mount.xacro"/>
+  <xacro:property name="mount_kinematics" value="${xacro.load_yaml('$(find franka_description)/robots/fr3_duo/fr3_duo_mount/kinematics.yaml')}" />
+
   <!-- Load Franka robot -->
   <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+
   <link name="world" />
+
+  <xacro:mount name="fr3_duo" 
+               parent="world"
+               inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3_duo/fr3_duo_mount/inertials.yaml')}">
+    <origin xyz="0.0 0.0 0.305115" rpy="0 0 0" />
+  </xacro:mount>
+
   <joint name="right_mount_joint" type="fixed">
-     <parent link="world"/>
+     <parent link="mount_link"/>
      <child link = "right_mount"/>
-    <origin xyz="0.035 -0.050681 0.356" rpy="0.8936 -0.1746 0.4636"/>
+     <origin xyz="${mount_kinematics['right']['kinematic']['x']} ${mount_kinematics['right']['kinematic']['y']} ${mount_kinematics['right']['kinematic']['z']}" 
+             rpy="${mount_kinematics['right']['kinematic']['roll']} ${mount_kinematics['right']['kinematic']['pitch']} ${mount_kinematics['right']['kinematic']['yaw']}"/>
   </joint>
+
   <xacro:franka_robot arm_id="fr3"
                       joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}"
                       inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}"
                       kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}"
                       dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}"
                       gazebo="false"
                       hand="true"
+                      tcp_xyz="0 0 0.1034"
                       ee_id="$(arg ee_id)"
                       with_sc="false"
                       ros2_control="false"
@@ -27,8 +42,8 @@
                       fake_sensor_commands="false"
                       gazebo_effort="false"
                       no_prefix="false"
-                      arm_prefix="right"
-                      connected_to= "right_mount">
+                      arm_prefix="right_"
+                      connected_to= "right_mount"> <!-- This also creates the link right_mount -->
   </xacro:franka_robot>
 
   <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
@@ -40,9 +55,10 @@
   </joint>
 
   <joint name="left_mount_joint" type="fixed">
-     <parent link="world"/>
+     <parent link="mount_link"/>
      <child link = "left_mount"/>
-    <origin xyz="0.035 0.050681 0.356" rpy="-0.8936 -0.1746 -0.4636"/>
+     <origin xyz="${mount_kinematics['left']['kinematic']['x']} ${mount_kinematics['left']['kinematic']['y']} ${mount_kinematics['left']['kinematic']['z']}" 
+             rpy="${mount_kinematics['left']['kinematic']['roll']} ${mount_kinematics['left']['kinematic']['pitch']} ${mount_kinematics['left']['kinematic']['yaw']}"/>
   </joint>
 
   <xacro:franka_robot arm_id="fr3"
@@ -52,6 +68,7 @@
                       dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}"
                       gazebo="false"
                       hand="true"
+                      tcp_xyz="0 0 0.1034"
                       ee_id="$(arg ee_id)"
                       with_sc="false"
                       ros2_control="false"
@@ -60,8 +77,8 @@
                       fake_sensor_commands="false"
                       gazebo_effort="false"
                       no_prefix="false"
-                      arm_prefix="left"
-                      connected_to= "left_mount">
+                      arm_prefix="left_"
+                      connected_to= "left_mount"> <!-- This also creates the link left_mount -->
   </xacro:franka_robot>
 
    <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->

src/moveit_pro_franka_configs/dual_arm_sim/description/franka.urdf.xacro

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:114eb1391eddddf087c28a5f70f0afad2d59c8a9157c58b58ea6d58ea671218e
+size 2185740

src/moveit_pro_franka_configs/dual_arm_sim/description/mujoco/assets/fr3_duo_cover.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d044cf283bf2208a6e397acb9a7767b221e9bb6dcec6501fb8dc2da009508ff
+size 14719204