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Modify origin of assigned collisions in simmechanics-generated Gazebo-related models for sole links after sole link frame location was changed #175

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Modify origin of assigned collisions in simmechanics-generated Gazebo-related models for sole links after sole link frame location was changed #175

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77a3d57
Modify origin of assigned collisions for sole links
traversaro Sep 20, 2023
8d62dab
Update CHANGELOG.md
traversaro Sep 20, 2023
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

## [Unreleased]

- Fixed regression in 0.3.4 that moved (in Gazebo-related models) the collision of the sole links to be higher, resulting in the `(r|l)_ankle_2` link being in contact with the ground and resulting in unstable contacts when using the models in Gazebo Classic (https://github.com/icub-tech-iit/ergocub-software/issues/174, https://github.com/icub-tech-iit/ergocub-software/issues/175)

## [0.3.4] - 2023-08-28

### urdf
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16 changes: 8 additions & 8 deletions urdf/simmechanics/CMakeLists.txt
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Expand Up @@ -123,22 +123,22 @@ macro(generate_ergocub_simmechanics)
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: r_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: l_foot_front
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: l_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
")
endif()

Expand All @@ -149,22 +149,22 @@ macro(generate_ergocub_simmechanics)
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: r_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: l_foot_front
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: l_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
origin: \"0.0 0.0 -0.0193 0.0 0.0 0.0\"
- linkName: r_hip_1
geometricShape:
shape: box
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