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URDF.Panda() has no inertial data -- robot_descriptions alternative exists but has a collision-query performance cost

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@karkikamal098 がすでに取り組んでいます。

2026年9月29日 から。

  • #707 @karkikamal098 による — オープン

評価

難易度
4/5
見積もり時間
3〜5日
初心者へのやさしさ
48/100
issue の種類
バグ
明瞭さ
おおむね明確
活発さ
活発
技術スタック
python
領域
performance, robotics

調査の方向性

まず URDF/Panda.py と URDF/Frankie.py を読み、次に robot_descriptions の Panda と rtb-data/rtbdata/xacro/qut_frankie_description/robots/panda_arm_hand.urdf.xacro を比較します。モデルが実際の慣性データを保持しつつ、vendored のカプセル衝突形状を使用していることを確認し、作業完了とみなす前に nonzero dynamics と衝突クエリのパフォーマンスを確認します。

索引モデルが issue の本文から書いたものです。

説明

tech-debt

The gap

rtb.models.URDF.Panda() loads RTB's own bundled qut_frankie_description/robots/panda_arm_hand.urdf.xacro (rtb-data/rtbdata/xacro/qut_frankie_description/). Checked at the raw file level: zero <inertial> tags anywhere in the whole package -- every link has <visual>/<collision> only. robot.rne()/robot.inertia()/robot.coriolis()/robot.gravload() are all silently zero for every configuration, not because of an algorithm bug (see #636/#684) but because the underlying URDF genuinely carries no mass data. Confirmed on current main.

This is the URDF-model twin of #278 (closed 2022, same complaint about DH.Panda() at the time -- fixed later that year by porting values from the MATLAB toolbox's mdl_panda.m, see DH/Panda.py's git blame, commit 217d69c9, PR #294 by @askuric). Nobody has filed the equivalent report for the URDF model.

Don't just port DH/Panda.py's values across -- DH r/I are expressed in the DH link frame convention, which doesn't in general coincide with the URDF joint frame. Copying the numbers without also transforming them would produce plausible-looking but wrong dynamics, silently.

A real alternative already exists, and is already proven in this codebase

robot_descriptions's Panda (example-robot-data's panda_description) has real inertial data -- 13 <inertial> blocks, masses 0.629769 to 4.970684 kg for the arm links (matching DH/Panda.py's values almost exactly, suggesting a common manufacturer-data lineage) -- plus full collision geometry (17 shapes: meshes for the 8 arm links, box primitives for the 2 fingers) and the complete hand/gripper.

Frankie() (URDF/Frankie.py) already loads exactly this (super().__init__("panda", manufacturer="Franka Emika", gripper_link_index=9)) in production today. Verified directly: real per-link mass, 1 collision shape per link, sane nonzero rne() output, correct gripper resolution. This is a working, shipping precedent, not a hypothetical.

The tradeoff that stopped a straight swap

The vendored qut_frankie_description Panda's collision geometry isn't generic -- it's a hand-built capsule approximation (cylinder + sphere caps per link segment), 3-6 shapes per link, vs. robot_descriptions's 1 mesh (or box) per link.

Measured directly (same obstacle, same pose, both geometries):

  • Single-shape closest_point query: capsule primitive (sphere/cylinder) ~0.003ms once warmed up vs. mesh ~0.19ms -- ~60x per shape pair (analytic distance formula vs. mesh GJK/EPA).
  • link_collision_damper() (the function examples/neo.py-style reactive avoidance calls) end to end: 1.3ms vs 15.4ms, ~12x slower with robot_descriptions's geometry, despite it having fewer total shapes per link (1 vs 3-6) -- the per-shape mesh cost dominates.

The vendored xacro's collision macro does have a safety_distance parameter (looked like it might matter too), but it's shipped instantiated at 0.00 in the actual file -- a dormant, unused capability, not a real factor. The actual avoidance margin comes from link_collision_damper's own ds/di runtime parameters regardless of which geometry is used.

Recommended path, not yet implemented

Hybrid: load robot_descriptions's "panda" for kinematics/mass/inertia (as Frankie() already does), then graft the vendored xacro's capsule collision shapes onto the same links by name afterward. Gets real inertial data with no collision-performance regression for reactive-avoidance examples. More code than a straight swap, but keeps both correctness properties.

Also noted in passing: dual_panda_example.urdf.xacro in the vendored package is unreferenced anywhere in src/ -- dead content, worth a separate look whenever this is picked up.

Not scoped/prioritized for this session -- filed so the investigation (and the concrete numbers above) aren't lost.

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