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Gepetto
example-robot-data
Commits
68b2a875
Commit
68b2a875
authored
2 months ago
by
Etienne ARLAUD
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[topic/Go2] Add hip convex collision mesh
parent
7be10314
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robots/go2_description/collisions/hip_convex.stl
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-0
0 additions, 0 deletions
robots/go2_description/collisions/hip_convex.stl
robots/go2_description/urdf/go2.urdf
+15
-15
15 additions, 15 deletions
robots/go2_description/urdf/go2.urdf
with
15 additions
and
15 deletions
robots/go2_description/collisions/hip_convex.stl
0 → 100644
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0
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68b2a875
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robots/go2_description/urdf/go2.urdf
+
15
−
15
View file @
68b2a875
...
...
@@ -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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