Find a solution for the stickBot collision problem

[Nicogene]

@Nicogene commented on Mon Oct 25 2021

At this moment only few parts have collision enabled, and if you import the stickBot model (not the one fixed) it falls inside the floor.

We should fix this because for sure the AMI guys will need the robot standing on the floor.

DoD
The stickBot can stand on the floor

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@GrmanRodriguez commented on Mon Oct 25 2021

Currently there are only collisions enabled for the feet at the forearms.

The robot falling inside the floor happens because the spawn position of the robot is too low, the feet are already below the floor and the rest of the body falls since it does not collide with the floor.

To fix this we can simply make the robot spawn from a higher position, such that the feet can touch the floor.

However, we need to probably also enable collisions for more links, since they will probably be needed for tests.

It is hard (to not say maybe impossible) to enable collisions everywhere in the stickBot since some parts are contained inside others, which would make the robot collide with itself.

Maybe we can choose the most important links and enable collisions only for those? For example, all of the arms except the elbows, all of the legs, the most outer torso link, the most outer shoulder links...