simplify naki collisions

ctu-mrs · Feb 7, 2024 · dd13094 · dd13094
1 parent 32ee916
commit dd13094
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Showing 2 changed files with 23 additions and 16 deletions.
diff --git a/.../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja b/.../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja
@@ -327,21 +327,6 @@ limitations under the License.
 {%- endmacro -%}
 {# <!--}--> #}
 
-{# visual_mesh_textured_with_collision_macro {--> #}
-{%- macro visual_mesh_textured_with_collision_macro(name, mesh_file, mesh_scale, x, y, z, roll, pitch, yaw) -%}
-  {{ visual_mesh_textured_macro(name, mesh_file, mesh_scale, x, y, z, roll, pitch, yaw) }}
-  <collision name="{{ name }}_collision">
-    <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
-    <geometry>
-      <mesh>
-        <uri>{{ mesh_file }}</uri>
-        <scale>{{ mesh_scale }}</scale>
-      </mesh>
-    </geometry>
-  </collision>
-{%- endmacro -%}
-{# <!--}--> #}
-
 {# visual_colored_box_macro {--> #}
 {%- macro visual_colored_box_macro(name, size_x, size_y, size_z, color, x, y, z, roll, pitch, yaw) -%}
 <visual name="{{ name }}_visual">

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
@@ -140,7 +140,7 @@
       <!--}-->
 
       <!-- Legs {-->
-      {{ generic.visual_mesh_textured_with_collision_macro(
+      {{ generic.visual_mesh_textured_macro(
         name = 'legs',
         mesh_file = legs_mesh_file,
         mesh_scale = mesh_scale,
@@ -151,6 +151,28 @@
         pitch = 0,
         yaw = 0)
       }}
+      {{ generic.collision_cylinder_macro(
+        name = 'left_leg',
+        collision_length = 0.17,
+        collision_radius = 0.07,
+        x = 0,
+        y = -0.2,
+        z = -0.17,
+        roll = 0,
+        pitch = 0,
+        yaw = 0)
+      }}
+      {{ generic.collision_cylinder_macro(
+        name = 'right_leg',
+        collision_length = 0.17,
+        collision_radius = 0.07,
+        x = 0,
+        y = 0.2,
+        z = -0.17,
+        roll = 0,
+        pitch = 0,
+        yaw = 0)
+      }}
       <!--}-->
 
       <!-- Motors {-->