shadow_hand_ign

URDF and SDF descriptions of Shadow Hand compatible with Ignition.

Visual mesh geometry and kinematic properties are taken from shadow-robot/sr_common. Collision geometry was remodelled to improve physical interactions (at the cost of performance).

Inertial properties of all links are estimated with estimate_inertial_properties.py script, while assuming total mass of 4.2 kg and uniform density. Furthermore, 50% of forearm's mass is redistributed to other links in order to account for the mechanical coupling via tendons.

Names of links and joints were changed to simplify the model and they do not match the original URDF description.

Instructions

ROS 2 (Optional)

Build with colcon and source the environment to make URDF discoverable for ROS 2.

Ignition

Export IGN_GAZEBO_RESOURCE_PATH to make SDF discoverable within the context of Ignition Gazebo.

export IGN_GAZEBO_RESOURCE_PATH=${PARENT_DIR}/shadow_hand_ign:${IGN_GAZEBO_RESOURCE_PATH}

Alternatively, you can just include the model from Ignition Fuel if you do not require the URDF description (or you use it from the official franka_description).

<include>
    <uri>https://fuel.ignitionrobotics.org/1.0/AndrejOrsula/models/shadow_hand</uri>
</include>

Directory Structure

shadow_hand_ign
├── shadow_hand          # Model directory compatible with Ignition Fuel
    ├─ meshes            # Meshes for both SDF and URDF
        ├── collision    # STL files for collision detection
            └─ *.stl
        └── visual       # COLLADA files for visuals
            └─ *.dae
    ├─ thumbnails        # Thumbnails for Fuel
        └─ *.png
    ├── model.config     # Ignition model meta data
    └── model.sdf        # SDF description of the Ignition model
├── urdf
    └── shadow_hand.urdf # URDF description of the model for MoveIt2
├── CMakeLists.txt
└── package.xml          # ROS2 shadow_hand description package `shadow_hand_ign`