Merge branch 'vx300_collisions' into pc

NOSALRO · Aug 13, 2023 · 03096ef · 03096ef
2 parents 6396d55 + 0a5e467
commit 03096ef
Showing 1 changed file with 10 additions and 6 deletions.
diff --git a/utheque/vx300/vx300.urdf b/utheque/vx300/vx300.urdf
@@ -224,12 +224,12 @@
       </geometry>
       <material name="interbotix_black"/>
     </visual>
-    <collision>
+    <!-- <collision>
       <origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
       <geometry>
         <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_8_gripper_bar.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-    </collision>
+    </collision> -->
     <inertial>
       <origin rpy="0 0 1.5707963267948966" xyz="0.0067940000 -0.0000004272 -0.0007760000"/>
       <mass value="0.150986"/>
@@ -266,9 +266,11 @@
       <material name="interbotix_black"/>
     </visual>
     <collision>
-      <origin rpy="1.5707963267948966 -3.141592653589793 1.5707963267948966" xyz="-0.0404 -0.0575 0"/>
+      <!-- <origin rpy="1.5707963267948966 -3.141592653589793 1.5707963267948966" xyz="-0.0404 -0.0575 0"/> -->
+      <origin rpy="0 0 0" xyz="0.035 0 0"/>
       <geometry>
-        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+        <!-- <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/> -->
+        <box size="0.07 0.02575 0.05"/>
       </geometry>
     </collision>
     <inertial>
@@ -295,9 +297,11 @@
       <material name="interbotix_black"/>
     </visual>
     <collision>
-      <origin rpy="-1.5707963267948966 3.141592653589793 -1.5707963267948966" xyz="-0.0404 0.0575 0 "/>
+      <!-- <origin rpy="-1.5707963267948966 3.141592653589793 -1.5707963267948966" xyz="-0.0404 0.0575 0 "/> -->
+      <origin rpy="0 0 0" xyz="0.035 0 0"/>
       <geometry>
-        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+        <!-- <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/> -->
+        <box size="0.07 0.02575 0.05"/>
       </geometry>
     </collision>
     <inertial>