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Commit af78002e authored by Etienne ARLAUD's avatar Etienne ARLAUD
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[topic/Go2] Remove foot from calf mesh and convexify/add them to urdf

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robots/go2_description/collisions/foot_convex.stl 0 → 100644
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− 0
View file @ af78002e
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robots/go2_description/urdf/go2.urdf
+ 12
− 36
View file @ af78002e
...@@ -271,9 +271,6 @@ Stephen Brawner (brawner@gmail.com) ...@@ -271,9 +271,6 @@ Stephen Brawner (brawner@gmail.com)
izz="9.6e-06" /> izz="9.6e-06" />
</inertial> </inertial>
<visual> <visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
...@@ -284,12 +281,9 @@ Stephen Brawner (brawner@gmail.com) ...@@ -284,12 +281,9 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" /> rgba="1 1 1 1" />
</material> </material>
</visual> </visual>
<collision> <collision><geometry>
<origin rpy="0 0 0" xyz="-0.002 0 0" /> <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
<geometry> </geometry></collision>
<sphere radius="0.022" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="FL_foot_joint" name="FL_foot_joint"
...@@ -519,9 +513,6 @@ Stephen Brawner (brawner@gmail.com) ...@@ -519,9 +513,6 @@ Stephen Brawner (brawner@gmail.com)
izz="9.6e-06" /> izz="9.6e-06" />
</inertial> </inertial>
<visual> <visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
...@@ -532,12 +523,9 @@ Stephen Brawner (brawner@gmail.com) ...@@ -532,12 +523,9 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" /> rgba="1 1 1 1" />
</material> </material>
</visual> </visual>
<collision> <collision><geometry>
<origin rpy="0 0 0" xyz="-0.002 0 0" /> <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
<geometry> </geometry></collision>
<sphere radius="0.022" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="FR_foot_joint" name="FR_foot_joint"
...@@ -767,9 +755,6 @@ Stephen Brawner (brawner@gmail.com) ...@@ -767,9 +755,6 @@ Stephen Brawner (brawner@gmail.com)
izz="9.6e-06" /> izz="9.6e-06" />
</inertial> </inertial>
<visual> <visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
...@@ -780,12 +765,9 @@ Stephen Brawner (brawner@gmail.com) ...@@ -780,12 +765,9 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" /> rgba="1 1 1 1" />
</material> </material>
</visual> </visual>
<collision> <collision><geometry>
<origin rpy="0 0 0" xyz="-0.002 0 0" /> <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
<geometry> </geometry></collision>
<sphere radius="0.022" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="RL_foot_joint" name="RL_foot_joint"
...@@ -1015,9 +997,6 @@ Stephen Brawner (brawner@gmail.com) ...@@ -1015,9 +997,6 @@ Stephen Brawner (brawner@gmail.com)
izz="9.6e-06" /> izz="9.6e-06" />
</inertial> </inertial>
<visual> <visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
...@@ -1028,12 +1007,9 @@ Stephen Brawner (brawner@gmail.com) ...@@ -1028,12 +1007,9 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" /> rgba="1 1 1 1" />
</material> </material>
</visual> </visual>
<collision> <collision><geometry>
<origin rpy="0 0 0" xyz="-0.002 0 0" /> <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
<geometry> </geometry></collision>
<sphere radius="0.022" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="RR_foot_joint" name="RR_foot_joint"
......
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