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change b1 xacro collision shape

This commit is contained in:
LuoBin 2024-03-26 08:24:37 -04:00
parent cea22a6f43
commit 67f7c5b14a
2 changed files with 25 additions and 15 deletions
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32
robots/b1_description/xacro/leg.xacro
View File

@ -68,9 +68,20 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -136,10 +147,15 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
@ -199,10 +215,10 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>

8
robots/b1_description/xacro/robot.xacro
View File

@ -44,17 +44,11 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>