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Commit 68b2a875 authored by Etienne ARLAUD's avatar Etienne ARLAUD
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[topic/Go2] Add hip convex collision mesh

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......@@ -73,9 +73,6 @@ Stephen Brawner (brawner@gmail.com)
izz="0.000596" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
......@@ -86,12 +83,9 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
</geometry>
</collision>
<collision><geometry>
<mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
</geometry></collision>
</link>
<joint
name="FL_hip_joint"
......@@ -329,9 +323,11 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
<origin
xyz="0 0 0"
rpy="3.1415 0 0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
<mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
</geometry>
</collision>
</link>
......@@ -571,9 +567,11 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
<origin
xyz="0 0 0"
rpy="0 3.1415 0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
<mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
</geometry>
</collision>
</link>
......@@ -813,9 +811,11 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
<origin
xyz="0 0 0"
rpy="3.1415 3.1415 0" />
<geometry>
<cylinder length="0.04" radius="0.046" />
<mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
</geometry>
</collision>
</link>
......
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