diff --git a/CHANGELOG.md b/CHANGELOG.md
index 118f63b0a1c60dff2d8198f3621c2f468774e1c0..cb42e34ba647bf8551b7855d4dbfa74834156248 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [Unreleased]
+- Update Go2 collision for convex hull of mesh and remove "Head_upper", "Head_lower", "XX_calflower", "XX_calflower1" links and joints ([#260](https://github.com/Gepetto/example-robot-data/pull/260))
+
## [4.2.0] - 2024-12-08
### Added
diff --git a/robots/go2_description/collisions/base_convex.stl b/robots/go2_description/collisions/base_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bb86ed27163a749ff0c266bfcf0326da1242f53e
Binary files /dev/null and b/robots/go2_description/collisions/base_convex.stl differ
diff --git a/robots/go2_description/collisions/calf_lower_convex.stl b/robots/go2_description/collisions/calf_lower_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6cb27099361958ea17b52f1ecb72df809ddbe5e7
Binary files /dev/null and b/robots/go2_description/collisions/calf_lower_convex.stl differ
diff --git a/robots/go2_description/collisions/calf_lower_mirror_convex.stl b/robots/go2_description/collisions/calf_lower_mirror_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0d6aacc5f2627ca455355996177ff9e59f971518
Binary files /dev/null and b/robots/go2_description/collisions/calf_lower_mirror_convex.stl differ
diff --git a/robots/go2_description/collisions/calf_upper_convex.stl b/robots/go2_description/collisions/calf_upper_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5101db2bae87f3876ef65ca88af38f5447f51728
Binary files /dev/null and b/robots/go2_description/collisions/calf_upper_convex.stl differ
diff --git a/robots/go2_description/collisions/calf_upper_mirror_convex.stl b/robots/go2_description/collisions/calf_upper_mirror_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..093a3aa36ac51a07c7fa3445f39881421c98a89a
Binary files /dev/null and b/robots/go2_description/collisions/calf_upper_mirror_convex.stl differ
diff --git a/robots/go2_description/collisions/foot_convex.stl b/robots/go2_description/collisions/foot_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0b03df981b3f2c52d000713e9fce7caea3aefe32
Binary files /dev/null and b/robots/go2_description/collisions/foot_convex.stl differ
diff --git a/robots/go2_description/collisions/hip_convex.stl b/robots/go2_description/collisions/hip_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1e4501c64828ef7268b88de7e21003ac89461499
Binary files /dev/null and b/robots/go2_description/collisions/hip_convex.stl differ
diff --git a/robots/go2_description/collisions/thigh_convex.stl b/robots/go2_description/collisions/thigh_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6db260a43d4001e7308640dd72d789fe41c87c92
Binary files /dev/null and b/robots/go2_description/collisions/thigh_convex.stl differ
diff --git a/robots/go2_description/collisions/thigh_mirror_convex.stl b/robots/go2_description/collisions/thigh_mirror_convex.stl
new file mode 100644
index 0000000000000000000000000000000000000000..82bfe93c36dbdea172c8a4190cbe0164f87b66c5
Binary files /dev/null and b/robots/go2_description/collisions/thigh_mirror_convex.stl differ
diff --git a/robots/go2_description/srdf/go2.srdf b/robots/go2_description/srdf/go2.srdf
index f0951973785413ef9a8f9ba1ab4b3d78b135ef77..dd2c0ebd4130972ca44f9097b01690c2cb180e9e 100644
--- a/robots/go2_description/srdf/go2.srdf
+++ b/robots/go2_description/srdf/go2.srdf
@@ -3,7 +3,7 @@
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
-<robot name="go1">
+<robot name="go2">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
@@ -97,342 +97,23 @@
<end_effector name="rh_foot" parent_link="RR_foot" group="rh_leg"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base"/>
+
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="FL_calf" link2="FL_calf_rotor" reason="Never"/>
+ <disable_collisions link1="base" link2="FL_thigh" reason="Adjacent"/>
+ <disable_collisions link1="FL_thigh" link2="FL_calf" reason="Adjacent"/>
<disable_collisions link1="FL_calf" link2="FL_foot" reason="Adjacent"/>
- <disable_collisions link1="FL_calf" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_calf" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_hip" link2="FL_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="FL_hip" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_calf_rotor" reason="Never"/>
+
+ <disable_collisions link1="base" link2="FR_thigh" reason="Adjacent"/>
+ <disable_collisions link1="FR_thigh" link2="FR_calf" reason="Adjacent"/>
<disable_collisions link1="FR_calf" link2="FR_foot" reason="Adjacent"/>
- <disable_collisions link1="FR_calf" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_calf" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_hip" link2="FR_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="FR_hip" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
- <disable_collisions link1="RL_calf" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RL_hip_rotor" reason="Never"/>
+
+ <disable_collisions link1="base" link2="RL_hip" reason="Adjacent"/>
<disable_collisions link1="RL_hip" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_hip" link2="RL_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="RL_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
- <disable_collisions link1="RR_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_hip" link2="RR_hip_rotor" reason="Never"/>
+ <disable_collisions link1="RL_thigh" link2="RL_calf" reason="Adjacent"/>
+ <disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
+
+ <disable_collisions link1="base" link2="RR_hip" reason="Adjacent"/>
<disable_collisions link1="RR_hip" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_hip" link2="RR_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="RR_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RR_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_thigh" link2="RR_thigh_rotor" reason="Never"/>
+ <disable_collisions link1="RR_thigh" link2="RR_calf" reason="Adjacent"/>
+ <disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
</robot>
diff --git a/robots/go2_description/urdf/go2.urdf b/robots/go2_description/urdf/go2.urdf
index ca13c08f86b2919f43fdb17d77d002e1288a4a6a..6da725c008e9b93bc231d94312cee3b23010ab94 100644
--- a/robots/go2_description/urdf/go2.urdf
+++ b/robots/go2_description/urdf/go2.urdf
@@ -22,12 +22,8 @@ Stephen Brawner (brawner@gmail.com)
izz="0.107" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/base.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/base.dae" />
</geometry>
<material
name="">
@@ -36,88 +32,11 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <box size="0.3762 0.0935 0.114" />
- </geometry>
- </collision>
- </link>
- <link
- name="Head_upper">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.001" />
- <inertia
- ixx="9.6e-06"
- ixy="0"
- ixz="0"
- iyy="9.6e-06"
- iyz="0"
- izz="9.6e-06" />
- </inertial>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <cylinder radius="0.05" length="0.09" />
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/base_convex.stl" />
</geometry>
</collision>
</link>
- <joint
- name="Head_upper_joint"
- type="fixed" dont_collapse="true">
- <origin
- xyz="0.285 0 0.01"
- rpy="0 0 0" />
- <parent
- link="base" />
- <child
- link="Head_upper" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="Head_lower">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0.001" />
- <inertia
- ixx="9.6e-06"
- ixy="0"
- ixz="0"
- iyy="9.6e-06"
- iyz="0"
- izz="9.6e-06" />
- </inertial>
- <collision>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <geometry>
- <sphere radius="0.047" />
- </geometry>
- </collision>
- </link>
- <joint
- name="Head_lower_joint"
- type="fixed" dont_collapse="true">
- <origin
- xyz="0.008 0 -0.07"
- rpy="0 0 0" />
- <parent
- link="Head_upper" />
- <child
- link="Head_lower" />
- <axis
- xyz="0 0 0" />
- </joint>
<link
name="FL_hip">
<inertial>
@@ -135,12 +54,8 @@ 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/dae/hip.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -148,12 +63,6 @@ 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>
</link>
<joint
name="FL_hip_joint"
@@ -202,12 +111,8 @@ Stephen Brawner (brawner@gmail.com)
izz="0.00103" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
</geometry>
<material
name="">
@@ -216,9 +121,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
- <geometry>
- <box size="0.213 0.0245 0.034" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_convex.stl" />
</geometry>
</collision>
</link>
@@ -269,12 +173,8 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
</geometry>
<material
name="">
@@ -283,9 +183,13 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
- <geometry>
- <cylinder length="0.12" radius="0.012" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_convex.stl" />
+ </geometry>
+ </collision>
+ <collision>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_convex.stl" />
</geometry>
</collision>
</link>
@@ -307,78 +211,6 @@ Stephen Brawner (brawner@gmail.com)
effort="45.43"
velocity="15.70" />
</joint>
- <link
- name="FL_calflower">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.065" radius="0.011" />
- </geometry>
- </collision>
- </link>
- <joint
- name="FL_calflower_joint"
- type="fixed">
- <origin
- xyz="0.020 0 -0.148"
- rpy="0 0.05 0" />
- <parent
- link="FL_calf" />
- <child
- link="FL_calflower" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="FL_calflower1">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.03" radius="0.0155" />
- </geometry>
- </collision>
- </link>
- <joint
- name="FL_calflower1_joint"
- type="fixed">
- <origin
- xyz="-0.01 0 -0.04"
- rpy="0 0.48 0" />
- <parent
- link="FL_calflower" />
- <child
- link="FL_calflower1" />
- <axis
- xyz="0 0 0" />
- </joint>
<link name="FL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -408,12 +240,8 @@ 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/dae/foot.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -422,9 +250,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="-0.002 0 0" />
- <geometry>
- <sphere radius="0.022" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
</geometry>
</collision>
</link>
@@ -462,8 +289,7 @@ Stephen Brawner (brawner@gmail.com)
xyz="0 0 0"
rpy="3.1415 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -471,12 +297,6 @@ 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>
</link>
<joint
name="FR_hip_joint"
@@ -525,12 +345,8 @@ Stephen Brawner (brawner@gmail.com)
izz="0.00103" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh_mirror.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
</geometry>
<material
name="">
@@ -539,9 +355,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
- <geometry>
- <box size="0.213 0.0245 0.034" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_mirror_convex.stl" />
</geometry>
</collision>
</link>
@@ -592,12 +407,8 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf_mirror.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
</geometry>
<material
name="">
@@ -606,9 +417,13 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
- <geometry>
- <cylinder length="0.12" radius="0.013" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_mirror_convex.stl" />
+ </geometry>
+ </collision>
+ <collision>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_mirror_convex.stl" />
</geometry>
</collision>
</link>
@@ -630,78 +445,6 @@ Stephen Brawner (brawner@gmail.com)
effort="45.43"
velocity="15.70" />
</joint>
- <link
- name="FR_calflower">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.065" radius="0.011" />
- </geometry>
- </collision>
- </link>
- <joint
- name="FR_calflower_joint"
- type="fixed">
- <origin
- xyz="0.020 0 -0.148"
- rpy="0 0.05 0" />
- <parent
- link="FR_calf" />
- <child
- link="FR_calflower" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="FR_calflower1">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.03" radius="0.0155" />
- </geometry>
- </collision>
- </link>
- <joint
- name="FR_calflower1_joint"
- type="fixed">
- <origin
- xyz="-0.01 0 -0.04"
- rpy="0 0.48 0" />
- <parent
- link="FR_calflower" />
- <child
- link="FR_calflower1" />
- <axis
- xyz="0 0 0" />
- </joint>
<link name="FR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -731,12 +474,8 @@ 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/dae/foot.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -745,9 +484,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="-0.002 0 0" />
- <geometry>
- <sphere radius="0.022" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
</geometry>
</collision>
</link>
@@ -785,8 +523,7 @@ Stephen Brawner (brawner@gmail.com)
xyz="0 0 0"
rpy="0 3.1415 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -795,9 +532,11 @@ 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>
@@ -848,12 +587,8 @@ Stephen Brawner (brawner@gmail.com)
izz="0.00103" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
</geometry>
<material
name="">
@@ -862,9 +597,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
- <geometry>
- <box size="0.213 0.0245 0.034" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_convex.stl" />
</geometry>
</collision>
</link>
@@ -915,12 +649,8 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
</geometry>
<material
name="">
@@ -929,9 +659,13 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
- <geometry>
- <cylinder length="0.12" radius="0.013" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_convex.stl" />
+ </geometry>
+ </collision>
+ <collision>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_convex.stl" />
</geometry>
</collision>
</link>
@@ -953,78 +687,6 @@ Stephen Brawner (brawner@gmail.com)
effort="45.43"
velocity="15.70" />
</joint>
- <link
- name="RL_calflower">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.065" radius="0.011" />
- </geometry>
- </collision>
- </link>
- <joint
- name="RL_calflower_joint"
- type="fixed">
- <origin
- xyz="0.020 0 -0.148"
- rpy="0 0.05 0" />
- <parent
- link="RL_calf" />
- <child
- link="RL_calflower" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="RL_calflower1">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.03" radius="0.0155" />
- </geometry>
- </collision>
- </link>
- <joint
- name="RL_calflower1_joint"
- type="fixed">
- <origin
- xyz="-0.01 0 -0.04"
- rpy="0 0.48 0" />
- <parent
- link="RL_calflower" />
- <child
- link="RL_calflower1" />
- <axis
- xyz="0 0 0" />
- </joint>
<link name="RL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -1054,12 +716,8 @@ 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/dae/foot.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -1068,9 +726,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="-0.002 0 0" />
- <geometry>
- <sphere radius="0.022" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
</geometry>
</collision>
</link>
@@ -1108,8 +765,7 @@ Stephen Brawner (brawner@gmail.com)
xyz="0 0 0"
rpy="3.1415 3.1415 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -1118,9 +774,11 @@ 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>
@@ -1171,12 +829,8 @@ Stephen Brawner (brawner@gmail.com)
izz="0.00103" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh_mirror.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
</geometry>
<material
name="">
@@ -1185,9 +839,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
- <geometry>
- <box size="0.213 0.0245 0.034" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/thigh_mirror_convex.stl" />
</geometry>
</collision>
</link>
@@ -1238,12 +891,8 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf_mirror.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
</geometry>
<material
name="">
@@ -1252,9 +901,13 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
- <geometry>
- <cylinder length="0.12" radius="0.013" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_upper_mirror_convex.stl" />
+ </geometry>
+ </collision>
+ <collision>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/calf_lower_mirror_convex.stl" />
</geometry>
</collision>
</link>
@@ -1276,78 +929,6 @@ Stephen Brawner (brawner@gmail.com)
effort="45.43"
velocity="15.70" />
</joint>
- <link
- name="RR_calflower">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.065" radius="0.011" />
- </geometry>
- </collision>
- </link>
- <joint
- name="RR_calflower_joint"
- type="fixed">
- <origin
- xyz="0.020 0 -0.148"
- rpy="0 0.05 0" />
- <parent
- link="RR_calf" />
- <child
- link="RR_calflower" />
- <axis
- xyz="0 0 0" />
- </joint>
- <link
- name="RR_calflower1">
- <inertial>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
- <mass
- value="0." />
- <inertia
- ixx="0.0"
- ixy="0.0"
- ixz="0.0"
- iyy="0.0"
- iyz="0.0"
- izz="0.0" />
- </inertial>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <cylinder length="0.03" radius="0.0155" />
- </geometry>
- </collision>
- </link>
- <joint
- name="RR_calflower1_joint"
- type="fixed">
- <origin
- xyz="-0.01 0 -0.04"
- rpy="0 0.48 0" />
- <parent
- link="RR_calflower" />
- <child
- link="RR_calflower1" />
- <axis
- xyz="0 0 0" />
- </joint>
<link name="RR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -1377,12 +958,8 @@ 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/dae/foot.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -1391,9 +968,8 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
- <origin rpy="0 0 0" xyz="-0.002 0 0" />
- <geometry>
- <sphere radius="0.022" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/go2_description/collisions/foot_convex.stl" />
</geometry>
</collision>
</link>
diff --git a/robots/go2_description/dae/base.dae b/robots/go2_description/visuals/base.dae
similarity index 100%
rename from robots/go2_description/dae/base.dae
rename to robots/go2_description/visuals/base.dae
diff --git a/robots/go2_description/dae/calf.dae b/robots/go2_description/visuals/calf.dae
similarity index 100%
rename from robots/go2_description/dae/calf.dae
rename to robots/go2_description/visuals/calf.dae
diff --git a/robots/go2_description/dae/calf_mirror.dae b/robots/go2_description/visuals/calf_mirror.dae
similarity index 100%
rename from robots/go2_description/dae/calf_mirror.dae
rename to robots/go2_description/visuals/calf_mirror.dae
diff --git a/robots/go2_description/dae/foot.dae b/robots/go2_description/visuals/foot.dae
similarity index 100%
rename from robots/go2_description/dae/foot.dae
rename to robots/go2_description/visuals/foot.dae
diff --git a/robots/go2_description/dae/hip.dae b/robots/go2_description/visuals/hip.dae
similarity index 100%
rename from robots/go2_description/dae/hip.dae
rename to robots/go2_description/visuals/hip.dae
diff --git a/robots/go2_description/dae/thigh.dae b/robots/go2_description/visuals/thigh.dae
similarity index 100%
rename from robots/go2_description/dae/thigh.dae
rename to robots/go2_description/visuals/thigh.dae
diff --git a/robots/go2_description/dae/thigh_mirror.dae b/robots/go2_description/visuals/thigh_mirror.dae
similarity index 100%
rename from robots/go2_description/dae/thigh_mirror.dae
rename to robots/go2_description/visuals/thigh_mirror.dae