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unitree_rl_gym
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update foot collision

This commit is contained in:
Yecheng Shao 2024-07-25 10:41:55 +08:00
parent 0bb56b5e7b
commit 8ace48b479
1 changed files with 40 additions and 4 deletions
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44
resources/robots/h1_2/h1_2_simplified.urdf
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@ -166,9 +166,27 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.08 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
<geometry>
<mesh filename="meshes/left_ankle_roll_link.STL"/>
<cylinder radius="0.005" length="0.076"/>
</geometry>
</collision>
<collision>
<origin xyz="0.17 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.042"/>
</geometry>
</collision>
<collision>
<origin xyz="0.027 -0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.21"/>
</geometry>
</collision>
<collision>
<origin xyz="0.027 0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.21"/>
</geometry>
</collision>
</link>
@ -318,9 +336,27 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.08 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
<geometry>
<mesh filename="meshes/right_ankle_roll_link.STL"/>
<cylinder radius="0.005" length="0.076"/>
</geometry>
</collision>
<collision>
<origin xyz="0.17 0.0 -0.04" rpy="1.5707963267948966192313216916398 0.0 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.042"/>
</geometry>
</collision>
<collision>
<origin xyz="0.027 -0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.21"/>
</geometry>
</collision>
<collision>
<origin xyz="0.027 0.038 -0.04" rpy="0.0 1.5707963267948966192313216916398 0.0"/>
<geometry>
<cylinder radius="0.005" length="0.21"/>
</geometry>
</collision>
</link>