[fix] make consistent leap hand model

dexsuite · Jul 31, 2024 · 6eeda17 · 6eeda17
1 parent 99720cd
commit 6eeda17
Showing 1 changed file with 56 additions and 2 deletions.
diff --git a/robots/hands/leap_hand/leap_hand_left.urdf b/robots/hands/leap_hand/leap_hand_left.urdf
@@ -15,9 +15,63 @@
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+      <origin xyz="-0.0848 -0.0996 0.0152" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/visual/palm_lower_left.obj"/>
+        <box size="0.022 0.026 0.034"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0848 -0.0546 0.0152" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.026 0.034"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0848 -0.0096 0.0152" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.026 0.034"/>
+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
+        <box size="0.058 0.02 0.046"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.1058 -0.0555 0.0232" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.12 0.03"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.1078 -0.0555 0.0002" rpy="0 0.785 0"/>
+      <geometry>
+        <box size="0.01 0.12 0.02"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.1238 -0.0575 0.0147" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.024 0.116 0.046"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.1538 -0.0375 0.0147" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
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+      <origin xyz="-0.1538 -0.0875 0.0362" rpy="0 0 0"/>
+      <geometry>
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     </collision>
     <inertial>