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shape_config.yaml
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shape_config.yaml
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joints:
- flipper_front_joint
- flipper_back_joint
collision_links:
# Chassis
- link: chassis_link
type: body
ignore_indices: [1]
# Main tracks
- link: main_track_left_link
type: track
resolution: &main_track_resolution 0.08
ignore_indices: &main_track_ignore_indices [3, 4]
cylinder_angle_min: &main_tracks_angle_min 4.712
cylinder_angle_max: &main_tracks_angle_max 7.85398
- link: main_track_right_link
type: track
resolution: *main_track_resolution
ignore_indices: *main_track_ignore_indices
cylinder_angle_min: *main_tracks_angle_min
cylinder_angle_max: *main_tracks_angle_max
# Flipper main wheel and tracks
- link: flipper_front_left_link
type: track
resolution: &flipper_track_resolution 0.045
ignore_indices: &flipper_ignore_indices [1, 3]
cylinder_angle_min: &flipper_big_wheel_angle_min 3.1415
cylinder_angle_max: &flipper_big_wheel_angle_max 4.712
- link: flipper_front_right_link
type: track
resolution: *flipper_track_resolution
ignore_indices: *flipper_ignore_indices
cylinder_angle_min: *flipper_big_wheel_angle_min
cylinder_angle_max: *flipper_big_wheel_angle_max
- link: flipper_back_left_link
type: track
resolution: *flipper_track_resolution
ignore_indices: *flipper_ignore_indices
cylinder_angle_min: *flipper_big_wheel_angle_min
cylinder_angle_max: *flipper_big_wheel_angle_max
- link: flipper_back_right_link
type: track
resolution: *flipper_track_resolution
ignore_indices: *flipper_ignore_indices
cylinder_angle_min: *flipper_big_wheel_angle_min
cylinder_angle_max: *flipper_big_wheel_angle_max
# Flipper small wheel
- link: flipper_front_left_link
type: track
resolution: *flipper_track_resolution
include_indices: &flipper_wheel_index [3]
cylinder_angle_min: &flipper_wheel_track_angle_min 4.712 # 3/4 * 2 * pi
cylinder_angle_max: &flipper_wheel_track_angle_max 6.78318
- link: flipper_front_right_link
type: track
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_track_angle_min
cylinder_angle_max: *flipper_wheel_track_angle_max
- link: flipper_back_left_link
type: track
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_track_angle_min
cylinder_angle_max: *flipper_wheel_track_angle_max
- link: flipper_back_right_link
type: track
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_track_angle_min
cylinder_angle_max: *flipper_wheel_track_angle_max
# Make top-side of small wheel fragile
- link: flipper_front_left_link
type: body
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: &flipper_wheel_angle_min 0.5
cylinder_angle_max: &flipper_wheel_angle_max 3
- link: flipper_front_right_link
type: body
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_angle_min
cylinder_angle_max: *flipper_wheel_angle_max
- link: flipper_back_left_link
type: body
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_angle_min
cylinder_angle_max: *flipper_wheel_angle_max
- link: flipper_back_right_link
type: body
resolution: *flipper_track_resolution
include_indices: *flipper_wheel_index
cylinder_angle_min: *flipper_wheel_angle_min
cylinder_angle_max: *flipper_wheel_angle_max