Newer version of open manipulator arm – urdf and meshes

[lmendyk]

Is there a chance to have an updated version of the model in respect to meshes and especially the geometry. I have a new version which robot arm looks like this https://emanual.robotis.com/assets/images/platform/openmanipulator_x/OpenManipulator_Introduction.jpg But the model look more like this https://emanual.robotis.com/assets/images/platform/turtlebot3/manipulation/hardware_setup.png

The problem is not only that the turtlebot3_manipulation looks in rviz differently than in reality but I also suspect that this may be the reason why trajectories planned and controlled by moveIt when executed experience collisions with the base of the turtlebot which are not visible/detected by the planning stack. I suspect that it may be caused by differences in geometry which are not huge but enough to have collisions not comprehend by the moveIt stack.