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manuelvogel12 / sara-shield

MIT License
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Adapt the CONCERT capsules #4

Closed JakobThumm closed 1 year ago

JakobThumm commented 1 year ago

Adapt the concert capsules so that all robot parts are encapsulated. Also add the drill as an optional end-effector.

manuelvogel12 commented 1 year ago

By changing <arg name="modular_description" default="$(find concert_examples)/concert_example.py"/> to <arg name="modular_description" default="$(find concert_examples)/concert_example_with_drill.py"/> in concert_description/concert_gazebo/launch/concert.launch, the drill can be added. Rerunning the capsule generation script is enough for a capsule that is big enough: image

manuelvogel12 commented 1 year ago

With the new version of the script, the capsules also encapsulate the robot in the starting position perfectly. Only after moving, problems occur. Since that problem is already mentioned in #5, I will close this issue