Fingers of the franka hand have no inertia tags after generating the urdf

[danielsanjosepro]

If I run python scripts/create_urdf.py fr3 then the generated urdf file has no inertia tags for the fingers. This occurs as well when using franka_ros2 and launching the normal fr3 robot.
This is weird, since the inertia tags seem to be defined in the hand xacro.

[gomezgu]

Hi Daniel,

Did you have the Gazebo flag set to true? The inertials are only considered for gazebo there.

[danielsanjosepro]

Hi,
thank you for the answer. Indeed the gazebo flag was not set. I will set it to true and check if it works. But is there a design reason for it? I was not using gazebo but I realized the issue as I tried to invert the mass matrix with pinocchio using the urdf without the gazebo flag. Probably it would make sense to always set them or rename this flag to something else.

Best,
Daniel

[gomezgu]

Hi, thank you for the answer. Indeed the gazebo flag was not set. I will set it to true and check if it works. But is there a design reason for it? I was not using gazebo but I realized the issue as I tried to invert the mass matrix with pinocchio using the urdf without the gazebo flag. Probably it would make sense to always set them or rename this flag to something else.

Best, Daniel

Hi Daniel,

this behavior was introduced as a fix a long time ago:
frankaemika/franka_ros@9e3f589

This was done to be able to control the fingers in gazebo. In future releases, we may remove the flag to have the values available even if gazebo is not needed.

Thanks for the feedback!