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Stack Of Tasks
talos-data
Commits
ed67a153
Commit
ed67a153
authored
Jun 05, 2019
by
Pierre Fernbach
Browse files
[urdf] change collision geometry for ankle : use convex mesh instead of box
parent
6f88d8f4
Changes
1
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urdf/talos_reduced.urdf
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ed67a153
...
...
@@ -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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