Skip to content
GitLab
Commit ed67a153 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[urdf] change collision geometry for ankle : use convex mesh instead of box

parent 6f88d8f4
Hide whitespace changes
Inline Side-by-side
urdf/talos_reduced.urdf
View file @ 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"/>
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment