link5 / end_tool model inconsistency

[BryanStuurman]

Introduced in commit 29bcd68, end_tool.stl doesn't line up with link5.stl (it is "down" in the world) and interferes with my custom end effector collision model.

a picture for reference, visual model (link5.stl) left, collision model (ent_tool) right:

I can work around this by replacing the reference to end_tool with link5, however it raises a much more serious question: which is the correct model?

my ask: Can the Ufactory team review the models and correct the discrepancy?

[penglongxiang]

Hi @BryanStuurman, I have done the checking and found collision model("end_tool.stl") is shorter in hight (Z direction) by 1 mm. Please use the visual model ("link5.stl" for xArm5) as the correct one, since collision model is a simplified version for faster collision check. We will try to update the collision model in future update, thanks for pointing out the discrepancy.

[penglongxiang]

Hi, I am attaching the updated "end_tool.stl" here for your test. Please replace and check if this aligns with other links for collision check. end_tool.STL.zip