Merge pull request #78 from kevinzakka:spot/add-sites

PiperOrigin-RevId: 654876643 Change-Id: Ib3d0ff527b49717cd47434245adaa7be08886442
google-deepmind · Jul 22, 2024 · 739206d · 739206d
2 parents 3d593a3 + 4ae7879
commit 739206d
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/boston_dynamics_spot/spot.xml b/boston_dynamics_spot/spot.xml
@@ -80,7 +80,7 @@
             <joint name="fl_kn" axis="0 1 0" range="-2.7929 -0.254402"/>
             <geom material="BlackAbs" mesh="front_left_lower_leg" class="visual"/>
             <geom mesh="left_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="FL" class="foot"/>
           </body>
         </body>
       </body>
@@ -101,7 +101,7 @@
             <joint name="fr_kn" axis="0 1 0" range="-2.7929 -0.255648"/>
             <geom material="BlackAbs" mesh="front_right_lower_leg" class="visual"/>
             <geom mesh="right_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="FR" class="foot"/>
           </body>
         </body>
       </body>
@@ -122,7 +122,7 @@
             <joint name="hl_kn" axis="0 1 0" range="-2.7929 -0.247067"/>
             <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
             <geom mesh="left_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="HL" class="foot"/>
           </body>
         </body>
       </body>
@@ -143,7 +143,7 @@
             <joint name="hr_kn" axis="0 1 0" range="-2.7929 -0.248282"/>
             <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
             <geom mesh="right_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="HR" class="foot"/>
           </body>
         </body>
       </body>

diff --git a/boston_dynamics_spot/spot_arm.xml b/boston_dynamics_spot/spot_arm.xml
@@ -111,7 +111,7 @@
             <joint name="fl_kn" axis="0 1 0" range="-2.7929 -0.254402"/>
             <geom material="BlackAbs" mesh="front_left_lower_leg" class="visual"/>
             <geom mesh="left_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="FL" class="foot"/>
           </body>
         </body>
       </body>
@@ -132,7 +132,7 @@
             <joint name="fr_kn" axis="0 1 0" range="-2.7929 -0.255648"/>
             <geom material="BlackAbs" mesh="front_right_lower_leg" class="visual"/>
             <geom mesh="right_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="FR" class="foot"/>
           </body>
         </body>
       </body>
@@ -153,7 +153,7 @@
             <joint name="hl_kn" axis="0 1 0" range="-2.7929 -0.247067"/>
             <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
             <geom mesh="left_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="HL" class="foot"/>
           </body>
         </body>
       </body>
@@ -174,7 +174,7 @@
             <joint name="hr_kn" axis="0 1 0" range="-2.7929 -0.248282"/>
             <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
             <geom mesh="right_lower_leg_collision" class="collision"/>
-            <geom class="foot"/>
+            <geom name="HR" class="foot"/>
           </body>
         </body>
       </body>