EmbodiedAI
/
unitree_ros
mirror of https://github.com/unitreerobotics/unitree_ros.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix collision for H1 with hand

This commit is contained in:
yecheng.shao 2024-01-22 21:59:14 +08:00
parent 39c9da3e6b
commit 7ef10ea4c7
2 changed files with 12 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
robots/h1_description/urdf/h1_with_hand.urdf
View File

@ -72,11 +72,10 @@
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
<cylinder length="0.07" radius="0.06" />
</geometry>
</collision>
</link>
@ -362,11 +361,10 @@
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
<cylinder length="0.07" radius="0.06" />
</geometry>
</collision>
</link>

14
robots/h1_description/urdf/h1_with_hand_isaacgym.urdf
View File

@ -72,11 +72,10 @@
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
<cylinder length="0.07" radius="0.06" />
</geometry>
</collision>
</link>
@ -362,11 +361,10 @@
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
<cylinder length="0.07" radius="0.06" />
</geometry>
</collision>
</link>