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open-dynamic-robot-initiative / robot_properties_solo

BSD 3-Clause "New" or "Revised" License
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Collision assessment in URDF #49

Closed MusubaPy closed 3 weeks ago

MusubaPy commented 2 years ago

Hello, Thank you for a great project!

I am using the RaiSim simulator for reinforcement learning. The simulator only supports URDF models. I found the XACRO builder and it references the STL model for collision estimation.

Do you have pre generated urdf files with an explicit indication of collisions like:

<collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
      <geometry>
        <box size="0.25 0.034 0.043"/>
      </geometry>
</collision>

Or urdf file with links to .obj files?

michel-aractingi commented 2 years ago

Hi,

I modified the original solo urdf to change collisions from meshes to boxes. You need to transform the STL files to OBJ.

solo.urdf.txt

I hope this helps.