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code-iai / iai_maps

The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen
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Oven Side Drawers: FRONT_LINK -> MAIN #62

Closed cpollok closed 5 years ago

cpollok commented 5 years ago

Because it caused problems in the environment manipulation package of CRAM and was inconsistent with the other drawers, this PR changes the vdrawer macro so that the main link is not without a rigid-body. The other drawers consist of a main link with the drawer as their mesh, a handle and a joint connecting them. The vdrawer now too has a main link with a mesh (the front panel), some sub-parts (the boards and the handle) and joints connecting them with the main link.

This change was necessary from the CRAM perspective because the main link of a container is used to identify it. And also to get it's pose. Without a mesh the main link didn't have a pose.

gaya- commented 5 years ago

Created a new PR to avoid merge conflicts.