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unitree_ros
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cylinder foot to sphere foot

This commit is contained in:
BDLUO 2023-12-20 20:35:01 +08:00
parent e7ad0b7d92
commit 773568af77
3 changed files with 9 additions and 9 deletions
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8
robots/b2_description/urdf/b2_description.urdf
View File

@ -529,7 +529,7 @@
xyz="0 0 0"
rpy="1.57 0 0" />
<geometry>
<cylinder length="0.05" radius="0.032" />
<sphere radius="0.032" />
</geometry>
</collision>
</link>
@ -823,7 +823,7 @@
xyz="0 0 0"
rpy="1.57 0 0" />
<geometry>
<cylinder length="0.05" radius="0.032" />
<sphere radius="0.032" />
</geometry>
</collision>
</link>
@ -1116,7 +1116,7 @@
xyz="0 0 0"
rpy="1.57 0 0" />
<geometry>
<cylinder length="0.05" radius="0.032" />
<sphere radius="0.032" />
</geometry>
</collision>
</link>
@ -1409,7 +1409,7 @@
xyz="0 0 0"
rpy="1.57 0 0" />
<geometry>
<cylinder length="0.05" radius="0.032" />
<sphere radius="0.032" />
</geometry>
</collision>
</link>

2
robots/b2_description/xacro/leg.xacro
View File

@ -250,7 +250,7 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.032" />
<sphere radius="0.032" />
</geometry>
</collision>
<inertial>

8
robots/b2_description_mujoco/xml/b2.xml
View File

@ -88,7 +88,7 @@
<geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom pos="0 8.6986e-05 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="FL_foot" friction="0.4 0.005 0.0001"/>
<geom size="0.032 0.025" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="cylinder" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
<geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
</body>
</body>
</body>
@ -112,7 +112,7 @@
<geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="FR_foot" friction="0.4 0.005 0.0001"/>
<geom size="0.032 0.025" pos="0 0 -0.35" quat="0.707388 0.706825 0 0" type="cylinder" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
<geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
</body>
</body>
</body>
@ -136,7 +136,7 @@
<geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom pos="0 8.6986e-05 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="RL_foot" friction="0.4 0.005 0.0001"/>
<geom size="0.032 0.025" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="cylinder" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
<geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
</body>
</body>
</body>
@ -160,7 +160,7 @@
<geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
<geom pos="0 -8.6984e-05 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="RR_foot" friction="0.4 0.005 0.0001"/>
<geom size="0.032 0.025" pos="0 -8.6984e-05 -0.35" quat="0.707388 0.706825 0 0" type="cylinder" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
<geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
</body>
</body>
</body>