From ed67a153af480f20a7efc36c79288fc85e6cdefe Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 5 Jun 2019 11:26:01 +0200
Subject: [PATCH] [urdf] change collision geometry for ankle : use convex mesh
instead of box
---
urdf/talos_reduced.urdf | 30 ++++++++++++++----------------
1 file changed, 14 insertions(+), 16 deletions(-)
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
index 56bbdfe..3f91216 100644
--- a/urdf/talos_reduced.urdf
+++ b/urdf/talos_reduced.urdf
@@ -2184,21 +2184,20 @@
</geometry>
<material name="Grey"/>
</visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
<!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.21 0.13 0.02"/>
</geometry>
</collision>
+ -->
</link>
<joint name="leg_left_6_joint" type="revolute">
<parent link="leg_left_5_link"/>
@@ -2510,21 +2509,20 @@
</geometry>
<material name="Grey"/>
</visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
+ </geometry>
+ </collision>
<!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.21 0.13 0.02"/>
</geometry>
</collision>
+ -->
</link>
<joint name="leg_right_6_joint" type="revolute">
<parent link="leg_right_5_link"/>
--
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