From a050aae7ae7f48c56843c300786117b75f6931ca Mon Sep 17 00:00:00 2001
From: earlaud <etienne.arlaud@inria.fr>
Date: Thu, 9 Jan 2025 10:25:28 +0100
Subject: [PATCH] [topic/Go2] remove front hip collision mesh as it is in the
 body

---
 cmake                                           |   2 +-
 .../collisions/base_body_convex.stl             | Bin 28584 -> 0 bytes
 .../collisions/base_fl_support_convex.stl       | Bin 8784 -> 0 bytes
 .../collisions/base_fr_support_convex.stl       | Bin 8984 -> 0 bytes
 .../collisions/base_head_convex.stl             | Bin 40184 -> 0 bytes
 .../collisions/base_neck_convex.stl             | Bin 16184 -> 0 bytes
 .../collisions/base_rl_support_convex.stl       | Bin 8784 -> 0 bytes
 .../collisions/base_rr_support_convex.stl       | Bin 8784 -> 0 bytes
 robots/go2_description/urdf/go2.urdf            |  11 -----------
 9 files changed, 1 insertion(+), 12 deletions(-)
 delete mode 100644 robots/go2_description/collisions/base_body_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_fl_support_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_fr_support_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_head_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_neck_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_rl_support_convex.stl
 delete mode 100644 robots/go2_description/collisions/base_rr_support_convex.stl

diff --git a/cmake b/cmake
index 91b8f5f..935e215 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 91b8f5f2168b123a198da079b8e6c09fd1f60285
+Subproject commit 935e2154e02e84f147046278bfd64e27a5f0850a
diff --git a/robots/go2_description/collisions/base_body_convex.stl b/robots/go2_description/collisions/base_body_convex.stl
deleted file mode 100644
index 8206ada00fabbdbc05add78c30e9c68359d90820..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/robots/go2_description/urdf/go2.urdf b/robots/go2_description/urdf/go2.urdf
index 17bba31..0dc3f23 100644
--- a/robots/go2_description/urdf/go2.urdf
+++ b/robots/go2_description/urdf/go2.urdf
@@ -64,9 +64,6 @@ Stephen Brawner (brawner@gmail.com)
           rgba="1 1 1 1" />
       </material>
     </visual>
-    <collision><geometry>
-        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
-    </geometry></collision>
   </link>
   <joint
     name="FL_hip_joint"
@@ -297,14 +294,6 @@ Stephen Brawner (brawner@gmail.com)
           rgba="1 1 1 1" />
       </material>
     </visual>
-    <collision>
-      <origin
-      xyz="0 0 0"
-      rpy="3.1415 0 0" />
-      <geometry>
-        <mesh filename="package://example-robot-data/robots/go2_description/collisions/hip_convex.stl" />
-      </geometry>
-    </collision>
   </link>
   <joint
     name="FR_hip_joint"
-- 
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