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Fix gazebo joint collision check bug #227

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Fix gazebo joint collision check bug #227

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90dde7f
fix(franka_gazebo): add gravity component to joint collision checking
rickstaa Feb 22, 2022
e0ffbf3
refactor: updates CHANGELOG.md
rickstaa Mar 18, 2022
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fix(franka_gazebo): add gravity component to joint collision checking 
This commit makes sure the gravity contribution is accounted for in the
joint collision checking. This needs to be done since it is not stored
in `joint->command` variable.
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@rickstaa
rickstaa committed Mar 23, 2024
commit 90dde7f8008522238e3adf6055f9d2a501c3108a
4 changes: 2 additions & 2 deletions franka_gazebo/src/joint.cpp
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Expand Up @@ -114,11 +114,11 @@ double Joint::getLinkMass() const {
}

bool Joint::isInCollision() const {
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return std::abs(this->effort - this->command) > this->collision_threshold;
return std::abs(this->effort - this->command + this->gravity) > this->collision_threshold;
}

bool Joint::isInContact() const {
return std::abs(this->effort - this->command) > this->contact_threshold;
return std::abs(this->effort - this->command + this->gravity) > this->contact_threshold;
}

void Joint::setJointPosition(const double joint_position) {
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