IsaacSim support (#13)

Fix enactic/openarm_isaac_lab#2

* Change dae file
* Change physical parameter

Reported by @Bakel-Bakel. Thanks!!!

config/arm/v10/inertials.yaml

@@ -53,7 +53,7 @@ link3:
   origin:
     x: -0.002104752099628911
     y: 0.0005549085042607548
-    z: 0.08847470545721961
+    z: 0.09047470545721961
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
@@ -74,7 +74,7 @@ link4:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  mass: 0.5598534566833373
+  mass: 0.6348534566833373
   inertia:
     xx: 0.000623
     xy: -1.0e-06
@@ -91,7 +91,7 @@ link5:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  mass: 0.5506588026168502
+  mass: 0.6156588026168502
   inertia:
     xx: 0.000423
     xy: -8.0e-06
@@ -108,7 +108,7 @@ link6:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  mass: 0.385202773187987
+  mass: 0.475202773187987
   inertia:
     xx: 0.000143
     xy: 1e-06
@@ -125,7 +125,7 @@ link7:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  mass: 0.3859771327380578
+  mass: 0.4659771327380578
   inertia:
     xx: 0.000639
     xy: 1e-06

config/hand/openarm_hand/inertials.yaml

@@ -2,15 +2,15 @@ hand:
   origin:
     x: 0.0
     y: 0.002
-    z: 0.019
+    z: 0.03
     roll: 0
     pitch: 0
     yaw: 0
-  mass: 0.3
+  mass: 0.35
   inertia:
-    xx: 0.0001
+    xx: 0.0002473
-    yy: 0.00025
+    yy: 1.763e-05
-    zz: 0.00017
+    zz: 0.0002521
     xy: 1e-06
     xz: 1e-06
     yz: 1e-06

config/hand/openarm_hand/kinematics_link.yaml

@@ -10,7 +10,7 @@
 hand:
   kinematic:
     x: 0.0
-    y: 0.005
+    y: 0.00
     z: -0.6585
     roll: 0.0
     pitch: 0.0
@@ -59,4 +59,4 @@ right_finger:
     z: -0.673001
     roll: 0.0
     pitch: 0.0
-    yaw: 0.0
+    yaw: 0.0

urdf/arm/openarm_arm.xacro

@@ -106,13 +106,13 @@
       <xacro:openarm-limits name="joint7" config="${joint_limits}" />
     </joint>
 
-    <link name="${prefix}link8"/>
+    <!-- <link name="${prefix}link8"/>
 
     <joint name="${prefix}joint8" type="fixed">
       <xacro:openarm-kinematics name="joint8" config="${kinematics}" />
       <parent link="${prefix}link7" />
       <child link="${prefix}link8" />
-    </joint>
+    </joint> -->
 
   </xacro:macro>
 </robot>

urdf/ee/openarm_hand.xacro

@@ -67,7 +67,7 @@
     <joint name="${ee_prefix}finger_joint1" type="prismatic">
       <parent link="${ee_prefix}hand" />
       <child link="${ee_prefix}right_finger" />
-      <origin xyz="0 0.00 0.015" rpy="0 0 0" />
+      <origin xyz="0 -0.006 0.015" rpy="0 0 0" />
       <axis xyz="0 -1 0" />
       <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
     </joint>
@@ -75,7 +75,7 @@
     <joint name="${ee_prefix}finger_joint2" type="prismatic">
       <parent link="${ee_prefix}hand" />
       <child link="${ee_prefix}left_finger" />
-      <origin xyz="0 0.012 0.015" rpy="0 0 0" />
+      <origin xyz="0 0.006 0.015" rpy="0 0 0" />
       <axis xyz="0 1 0" />
       <limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
       <mimic joint="${ee_prefix}finger_joint1" />

urdf/ee/openarm_hand_arguments.xacro

@@ -5,7 +5,7 @@
   <xacro:arg name="special_connection" default="" />
 
   <!-- Position offset between ee and parent frame -->
-  <xacro:arg name="xyz_ee" default="0 -0.025 0.1001" />
+  <xacro:arg name="xyz_ee" default="0 -0.0 0.1001" />
 
   <!-- Rotation offset between ee and parent frame -->
   <xacro:arg name="rpy_ee" default= "0 0 0" />

urdf/robot/openarm_robot.xacro

@@ -112,7 +112,7 @@
 
         <xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
             <xacro:openarm_hand
-                connected_to="openarm_left_link8"
+                connected_to="openarm_left_link7"
                 arm_type="${arm_type}"
                 arm_prefix="left_"
                 ee_type="${ee_type}"
@@ -125,7 +125,7 @@
                 description_pkg="$(arg description_pkg)"
             />
             <xacro:openarm_hand
-                connected_to="openarm_right_link8"
+                connected_to="openarm_right_link7"
                 arm_type="${arm_type}"
                 arm_prefix="right_"
                 ee_type="${ee_type}"
@@ -170,8 +170,8 @@
         <xacro:if value="${hand and ee_type == 'openarm_hand'}">
 
         <xacro:property name="special_connection" value="$(arg special_connection)" />
-        <!-- <xacro:property name="connection" value="${special_connection if special_connection != '' else arm_type + '_link8'}" /> -->
+        <!-- <xacro:property name="connection" value="${special_connection if special_connection != '' else arm_type + '_link7'}" /> -->
-        <xacro:property name="connection" value="${special_connection if special_connection != '' else 'openarm' + '_link8'}" />
+        <xacro:property name="connection" value="${special_connection if special_connection != '' else 'openarm' + '_link7'}" />
 
         <xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
         <xacro:openarm_hand