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Merge pull request #2533 from erwincoumans/master

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also enable simplified convex decomposition collision meshes for xarm…
This commit is contained in:
erwincoumans
2019-12-09 08:53:27 -08:00
committed by GitHub
parent e57fb497eb 67905efd0f
commit 1b8d7be2b6
1 changed files with 7 additions and 7 deletions
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14
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
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@@ -45,7 +45,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -65,7 +65,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -93,7 +93,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -121,7 +121,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -149,7 +149,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -177,7 +177,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>
@@ -205,7 +205,7 @@
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> <mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> </collision>