panda_ign

URDF and SDF descriptions of Franka Emika Panda robot compatible with Ignition and MoveIt2.

Collision geometry was remodelled to make it more realistic and improve performance, see #3.

Inertial properties of all links are estimated with estimate_inertial_properties.py script, while assuming total mass of 18 kg and uniform density. This script also redistributes a potion of hand's mass to fingers due to internal mechanical coupling.

The SDF description also contains estimated dynamic parameters for joints. Note that these values are NOT based on real-life robot and should therefore be used with caution.

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=${PARENT_DIR}/panda_ign:${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/panda</uri>
</include>

Directory Structure

panda_ign
├── panda               # 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
    └── panda.urdf      # URDF description of the model for MoveIt2
├── CMakeLists.txt
└── package.xml         # ROS2 panda description package `panda_ign`