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ergoCubV1*: fix contacts in the soles #176

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merged 2 commits into from
Sep 20, 2023
Merged

ergoCubV1*: fix contacts in the soles #176

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9669e51
ergoCubV1_1: fix contacts in the soles
Nicogene Sep 20, 2023
ad0aff6
ergoCubV1: fix contacts in the soles
Nicogene Sep 20, 2023
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8 changes: 4 additions & 4 deletions urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_gazebo.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -964,22 +964,22 @@ assignedCollisionGeometry:
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]


assignedMasses:
Expand Down
8 changes: 4 additions & 4 deletions urdf/creo2urdf/data/ergocub1_0/ERGOCUB_all_options_minContacts.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -1163,22 +1163,22 @@ assignedCollisionGeometry:
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_hip_1
geometricShape:
shape: box
Expand Down
8 changes: 4 additions & 4 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_gazebo.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -701,22 +701,22 @@ assignedCollisionGeometry:
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]


assignedMasses:
Expand Down
8 changes: 4 additions & 4 deletions urdf/creo2urdf/data/ergocub1_1/ERGOCUB_all_options_minContacts.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -703,22 +703,22 @@ assignedCollisionGeometry:
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_front
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: l_foot_rear
geometricShape:
shape: box
size: [0.117, 0.100, 0.006]
origin: [0.0,0.0,0.003,0.0,0.0,0.0]
origin: [0.0,0.0,-0.0193,0.0,0.0,0.0]
- linkName: r_hip_1
geometricShape:
shape: box
Expand Down
8 changes: 4 additions & 4 deletions urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -301,7 +301,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -558,7 +558,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -586,7 +586,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down
8 changes: 4 additions & 4 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1852,7 +1852,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand All @@ -1879,7 +1879,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -2101,7 +2101,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand All @@ -2128,7 +2128,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down
8 changes: 4 additions & 4 deletions urdf/ergoCub/robots/ergoCubGazeboV1_1_minContacts/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1690,7 +1690,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand All @@ -1717,7 +1717,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -1921,7 +1921,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand All @@ -1948,7 +1948,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0.003" rpy="0 -0 0"/>
<origin xyz="0 0 -0.0193" rpy="0 -0 0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down
8 changes: 4 additions & 4 deletions urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -301,7 +301,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -558,7 +558,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down Expand Up @@ -586,7 +586,7 @@
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 -0.0193" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.117 0.1 0.006"/>
</geometry>
Expand Down