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unitree_ros
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remove unnecessary collisions

This commit is contained in:
xiaoliangstd 2023-04-18 12:34:55 +08:00
parent 94d0b84520
commit 5dee20c5ba
3 changed files with 18 additions and 18 deletions
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12
robots/aliengo_description/xacro/leg.xacro
View File

@ -91,12 +91,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/> <mass value="${hip_rotor_mass}"/>
@ -159,12 +159,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/> <mass value="${thigh_rotor_mass}"/>
@ -222,12 +222,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
<mass value="${calf_rotor_mass}"/> <mass value="${calf_rotor_mass}"/>

12
robots/b1_description/xacro/leg.xacro
View File

@ -91,12 +91,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.05"/> <cylinder length="0.02" radius="0.05"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/> <mass value="${hip_rotor_mass}"/>
@ -159,12 +159,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.05"/> <cylinder length="0.02" radius="0.05"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/> <mass value="${thigh_rotor_mass}"/>
@ -222,12 +222,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.05"/> <cylinder length="0.02" radius="0.05"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
<mass value="${calf_rotor_mass}"/> <mass value="${calf_rotor_mass}"/>

12
robots/go1_description/xacro/leg.xacro
View File

@ -91,12 +91,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/> <origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/> <mass value="${hip_rotor_mass}"/>
@ -159,12 +159,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/> <mass value="${thigh_rotor_mass}"/>
@ -222,12 +222,12 @@
</geometry> </geometry>
<material name="green"/> <material name="green"/>
</visual> </visual>
<collision> <!-- <collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<cylinder length="0.02" radius="0.035"/> <cylinder length="0.02" radius="0.035"/>
</geometry> </geometry>
</collision> </collision> -->
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/> <origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
<mass value="${calf_rotor_mass}"/> <mass value="${calf_rotor_mass}"/>