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z?>PKF{Xbl_a5eM0sZ6>t$wG;*PI3~+1hjxHafUqk6ph;+L)|ZiG592KUctA(qr2&4 zG<|Oz?LTsgFb-$|TjIYH_pzEL*BjGcI#Yx`U_MHGSH?Te(Tzb8y*q7^@I9b~*vJ0> Dw7*+8 literal 0 HcmV?d00001 diff --git a/robots/go2_description/urdf/go2.urdf b/robots/go2_description/urdf/go2.urdf index 8effdb2..33febb0 100644 --- a/robots/go2_description/urdf/go2.urdf +++ b/robots/go2_description/urdf/go2.urdf @@ -271,9 +271,6 @@ Stephen Brawner (brawner@gmail.com) izz="9.6e-06" /> </inertial> <visual> - <origin - xyz="0 0 0" - rpy="0 0 0" /> <geometry> <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> @@ -284,12 +281,9 @@ Stephen Brawner (brawner@gmail.com) rgba="1 1 1 1" /> </material> </visual> - <collision> - <origin rpy="0 0 0" xyz="-0.002 0 0" /> - <geometry> - <sphere radius="0.022" /> - </geometry> - </collision> + <collision><geometry> + <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" /> + </geometry></collision> </link> <joint name="FL_foot_joint" @@ -519,9 +513,6 @@ Stephen Brawner (brawner@gmail.com) izz="9.6e-06" /> </inertial> <visual> - <origin - xyz="0 0 0" - rpy="0 0 0" /> <geometry> <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> @@ -532,12 +523,9 @@ Stephen Brawner (brawner@gmail.com) rgba="1 1 1 1" /> </material> </visual> - <collision> - <origin rpy="0 0 0" xyz="-0.002 0 0" /> - <geometry> - <sphere radius="0.022" /> - </geometry> - </collision> + <collision><geometry> + <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" /> + </geometry></collision> </link> <joint name="FR_foot_joint" @@ -767,9 +755,6 @@ Stephen Brawner (brawner@gmail.com) izz="9.6e-06" /> </inertial> <visual> - <origin - xyz="0 0 0" - rpy="0 0 0" /> <geometry> <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> @@ -780,12 +765,9 @@ Stephen Brawner (brawner@gmail.com) rgba="1 1 1 1" /> </material> </visual> - <collision> - <origin rpy="0 0 0" xyz="-0.002 0 0" /> - <geometry> - <sphere radius="0.022" /> - </geometry> - </collision> + <collision><geometry> + <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" /> + </geometry></collision> </link> <joint name="RL_foot_joint" @@ -1015,9 +997,6 @@ Stephen Brawner (brawner@gmail.com) izz="9.6e-06" /> </inertial> <visual> - <origin - xyz="0 0 0" - rpy="0 0 0" /> <geometry> <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" /> @@ -1028,12 +1007,9 @@ Stephen Brawner (brawner@gmail.com) rgba="1 1 1 1" /> </material> </visual> - <collision> - <origin rpy="0 0 0" xyz="-0.002 0 0" /> - <geometry> - <sphere radius="0.022" /> - </geometry> - </collision> + <collision><geometry> + <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" /> + </geometry></collision> </link> <joint name="RR_foot_joint" -- GitLab