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Fixes to inertia matrices, now only ground collision will crash

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Bastian Hofmann
2022-03-24 19:22:17 +01:00
parent 36c56ea7c5
commit cd714e6b7f
6 changed files with 39 additions and 23 deletions
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src/iisy_config/srdf/iisy.srdf
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@@ -27,7 +27,7 @@
<joint name="link3_rot" value="0"/>
</group_state>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base" link2="base_top" reason="Adjacent"/>
<disable_collisions link1="base_bottom" link2="base_top" reason="Adjacent"/>
<disable_collisions link1="base_top" link2="link1_full" reason="Adjacent"/>
<disable_collisions link1="base_top" link2="link2_bottom" reason="Never"/>
<disable_collisions link1="link1_full" link2="link2_bottom" reason="Adjacent"/>