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Commit 3f0fcdfd authored by Krzysztof Wojciechowski's avatar Krzysztof Wojciechowski
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Fix collision model for Panda

parent 4104fb5a
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Pipeline #48968 passed
Stage: test
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robots/panda_description/urdf/panda_collision.urdf
+ 46
− 10
View file @ 3f0fcdfd
......@@ -311,21 +311,21 @@
</geometry>
</collision>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0.06 0 0.082"/>
<origin rpy="1.57 0 -0.785" xyz="0.04 0.04 0.09"/>
<geometry>
<cylinder length="0.01" radius="0.06"/>
<cylinder length="0.01" radius="0.045"/>
</geometry>
</collision>
<collision>
<origin xyz="0.065 0 0.082"/>
<origin xyz="0.043535534 0.043535534 0.09"/>
<geometry>
<sphere radius="0.06"/>
<sphere radius="0.045"/>
</geometry>
</collision>
<collision>
<origin xyz="0.055 0 0.082"/>
<origin xyz="0.036464466 0.036464466 0.09"/>
<geometry>
<sphere radius="0.06"/>
<sphere radius="0.045"/>
</geometry>
</collision>
<inertial>
......@@ -369,7 +369,19 @@
<collision>
<origin rpy="1.57 0 0" xyz="0 0 3e-2"/>
<geometry>
<cylinder length="0.25" radius="0.04"/>
<cylinder length="0.15" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.075 3e-2"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.075 3e-2"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<inertial>
......@@ -401,7 +413,19 @@
<collision>
<origin rpy="0 0 0" xyz="0 15e-3 3e-2"/>
<geometry>
<cylinder length="0.07" radius="0.015"/>
<cylinder length="0.03" radius="0.015"/>
</geometry>
</collision>
<collision>
<origin xyz="0 15e-3 15e-3"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<collision>
<origin xyz="0 15e-3 45e-3"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
......@@ -418,10 +442,22 @@
</geometry>
</visual>
<!-- screw mount -->
<collision>
<collision>
<origin rpy="0 0 0" xyz="0 -15e-3 3e-2"/>
<geometry>
<cylinder length="0.07" radius="0.015"/>
<cylinder length="0.03" radius="0.015"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -15e-3 15e-3"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -15e-3 45e-3"/>
<geometry>
<sphere radius="0.015"/>
</geometry>
</collision>
<inertial>
......
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