add box collision mesh and explicit contacts list (#3)

alik-git · web-flow · commit 4553d0f058dd · 2025-03-14T00:58:49.000Z
diff --git a/kbot-feet/robot.mjcf b/kbot-feet/robot.mjcf
@@ -204,6 +204,11 @@
     <motor name="right_ankle_02_ctrl" joint="right_ankle_02" class="motor_02" />
   </actuator>
 
+  <contact>
+    <pair geom1="foot1_collision_box" geom2="floor" />
+    <pair geom1="foot3_collision_box" geom2="floor" />
+  </contact>
+
   <sensor>
     <accelerometer name="imu_acc" site="imu_site" noise="0.01" />
     <gyro name="imu_gyro" site="imu_site" noise="0.01" />
diff --git a/kbot-v2-feet/robot.mjcf b/kbot-v2-feet/robot.mjcf
@@ -141,8 +141,8 @@
                 <body name="KB_D_501R_R_LEG_FOOT" pos="-0.031300 0.292500 0.034000">
                   <joint name="right_ankle_02" type="hinge" class="motor_02" range="-0.296706 0.785398" axis="0 0 1" />
                   <inertial pos="-0.013265 0.028578 -0.016056" mass="0.492747" diaginertia="0.000283 0.00156 0.001485" />
-                  <geom name="KB_D_501R_R_LEG_FOOT_collision" type="mesh" mesh="KB_D_501R_R_LEG_FOOT.collision.stl" class="collision" />
                   <geom name="KB_D_501R_R_LEG_FOOT_visual" material="KB_D_501R_R_LEG_FOOT_material" type="mesh" mesh="KB_D_501R_R_LEG_FOOT.stl" class="visual" />
+                  <geom name="KB_D_501R_R_LEG_FOOT_collision_box" type="box" pos="-0.028565 0.014366 -0.014000" size="0.105479 0.035873 0.036000" class="collision" />
                 </body>
               </body>
             </body>
@@ -167,8 +167,8 @@
                 <body name="KB_D_501L_L_LEG_FOOT" pos="-0.031300 -0.292500 -0.057200">
                   <joint name="left_ankle_02" type="hinge" class="motor_02" range="-0.785398 0.296706" axis="0 0 1.0" />
                   <inertial pos="-0.013265 -0.028578 0.011944" mass="0.492748" diaginertia="0.000283 0.00156 0.001485" />
-                  <geom name="KB_D_501L_L_LEG_FOOT_collision" type="mesh" mesh="KB_D_501L_L_LEG_FOOT.collision.stl" class="collision" />
                   <geom name="KB_D_501L_L_LEG_FOOT_visual" material="KB_D_501R_R_LEG_FOOT_material" type="mesh" mesh="KB_D_501L_L_LEG_FOOT.stl" class="visual" />
+                  <geom name="KB_D_501L_L_LEG_FOOT_collision_box" type="box" pos="-0.028403 -0.014436 0.014000" size="0.105488 0.036200 0.036000" class="collision" />
                 </body>
               </body>
             </body>
@@ -209,6 +209,11 @@
     <motor name="left_ankle_02_ctrl" joint="left_ankle_02" class="motor_02" />
   </actuator>
 
+  <contact>
+    <pair geom1="KB_D_501R_R_LEG_FOOT_collision_box" geom2="floor" />
+    <pair geom1="KB_D_501L_L_LEG_FOOT_collision_box" geom2="floor" />
+  </contact>
+
   <sensor>
     <accelerometer name="imu_acc" site="imu_site" noise="0.01" />
     <gyro name="imu_gyro" site="imu_site" noise="0.01" />
diff --git a/zbot-feet/robot.mjcf b/zbot-feet/robot.mjcf
@@ -121,8 +121,8 @@
                 <body name="FOOT" pos="0.100000 0 0.000800" quat="-1.2247452309842457e-07 -0.7071068967259713 -0.7071066656470838 -1.22474483074382e-07">
                   <joint name="left_ankle" type="hinge" class="motor" range="-1.570796 1.570796" axis="0 0 1" />
                   <inertial pos="-0.015078 0.027835 0.018700" mass="0.278140" diaginertia="4.5e-05 0.000205 0.000182" />
-                  <geom name="FOOT_collision" type="mesh" mesh="FOOT.collision.stl" class="collision" />
                   <geom name="FOOT_visual" material="L_ARM_MIRROR_1_material" type="mesh" mesh="FOOT.stl" class="visual" />
+                  <geom name="FOOT_collision_box" type="box" pos="-0.016074 0.012925 0.018700" size="0.044935 0.022707 0.020220" class="collision" />
                 </body>
               </body>
             </body>
@@ -147,8 +147,8 @@
                 <body name="FOOT_2" pos="0.100000 0 0.001000" quat="-1.2247452309842457e-07 -0.7071068967259713 0.7071066656470838 1.22474483074382e-07">
                   <joint name="right_ankle" type="hinge" class="motor" range="-1.570796 1.570796" axis="0 0 1" />
                   <inertial pos="-0.015078 -0.027835 0.018700" mass="0.278140" diaginertia="4.5e-05 0.000205 0.000182" />
-                  <geom name="FOOT_2_collision" type="mesh" mesh="FOOT_2.collision.stl" class="collision" />
                   <geom name="FOOT_2_visual" material="L_ARM_MIRROR_1_material" type="mesh" mesh="FOOT_2.stl" class="visual" />
+                  <geom name="FOOT_2_collision_box" type="box" pos="-0.016015 -0.012928 0.018700" size="0.044976 0.022733 0.020220" class="collision" />
                 </body>
               </body>
             </body>
@@ -182,6 +182,11 @@
     <motor name="right_ankle_ctrl" joint="right_ankle" class="motor" />
   </actuator>
 
+  <contact>
+    <pair geom1="FOOT_collision_box" geom2="floor" />
+    <pair geom1="FOOT_2_collision_box" geom2="floor" />
+  </contact>
+
   <sensor>
     <accelerometer name="IMU_acc" site="IMU_site" noise="0.01" />
     <gyro name="IMU_gyro" site="IMU_site" noise="0.01" />
