[franka_description] Docs say gazebo=true triggers use of paper's estimated paremters, but they are always used?

[EricCousineau-TRI]

From docs:
https://github.com/frankaemika/docs/blame/12fb63aa406b3e33dfc57a97ad5a5362e1ad8aad/source/franka_ros.rst#L36-L39

However, upon inspection, it looks like the inertial parameters are not dependent on the gazebo parameters?

franka_ros/franka_description/robots/common/utils.xacro

Lines 4 to 6 in a58d305

	<!-- Load inertial properties. Property is implicitly passed to macros. -->
	<xacro:property name="inertial_config" value="$(find franka_description)/robots/common/inertial.yaml"/>
	<xacro:property name="inertial" value="${xacro.load_yaml(inertial_config)}"/>

Is this intended? If so, can the docs be updated?
If not, can this possibly be fixed?

Relates
frankaemika/franka_ros2#11
https://www.franka-community.de/t/panda-dynamic-model/4573/3

[gollth]

Hi @EricCousineau-TRI

sorry for the late reply. The inertia parameters are dependent on the gazebo arg but not in the place you searched for. Rather the condition is placed a little bit further down in the link_with_sc macro:

franka_ros/franka_description/robots/common/utils.xacro

Lines 51 to 53 in 2d458ab

	<xacro:if value="${gazebo}">
	<xacro:inertial_props name="${name}" />
	</xacro:if>

You can also verify that by simply inspecting the URDFs ;)

$ xacro $(rospack find franka_description)/robots/fr3/fr3.urdf.xacro | grep "<inertial>" | wc -l
0

$ xacro $(rospack find franka_description)/robots/fr3/fr3.urdf.xacro gazebo:=true | grep "<inertial>" | wc -l
8

I hope this answers your question. Feel free to reopen the ticket if not.

All the best