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Update drake models with Panda collision model/filter changes #22316

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Update drake models with Panda collision model/filter changes #22316

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@calderpg-tri calderpg-tri commented Dec 15, 2024 •
edited by sherm1
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calderpg-tri commented Dec 15, 2024
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Reviewable status: 1 unresolved discussion, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @calderpg-tri)

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working Depends on models#71 landing

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Pulls in changes to the Panda collision model(s) and collision filtering, specifically:

  1. Adds the additional collision spheres which we have been adding in-code to match the internal self-collision model to the URDF itself as two "extra" links attached to links 2 and 5.
  2. Adjusts the collision filtering, particularly around the wrist assembly, so that collisions with the outboard end of link 5 are filtered while collisions with the inboard "extra" on link 5 are not.

See Anzu#15069 for accompanying internal code changes.

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+@jwnimmer-tri for review or delegation, thanks!

cc @abeaulieu-tri @rcory

@calderpg-tri calderpg-tri marked this pull request as ready for review December 15, 2024 23:56
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