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Official models of Franka Robotics GmbH robots

License: Apache License 2.0

Dockerfile 6.31% Shell 6.63% CMake 7.16% Python 79.90%

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isaac-orbit kotochleb swiss-battery-technology-center larbino1 m-elwin sp-sophia-labs

franka_description's Issues

Incorrect inertia for FER

When launching example from franka_ros2 with command

ros2 launch franka_gazebo_bringup gazebo_joint_impedance_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand' arm_id:=fer

FER returns errors related to inertia and is not spawning the robot in Ignition Gazebo

[rviz2-3] [ERROR] [1720787708.413849623] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.

...

[ruby $(which ign) gazebo-1] [Err] [UserCommands.cc:1138] Error Code 18: Msg: A link named fer_link4 has invalid inertia.

On a side note, FP3 and FR3 are fine. Copying inertia from other robots solves the problem.

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