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Ship an optional flat-bottomed sole hull for lite_biped - #24
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meshes/collision/<side>_foot_hull.stl is the convex hull of the shoe up to 25 mm above the sole, with 32 vertices. Its bottom is exactly flat: one 10-vertex polygon on the sole plane (105 cm2). A plain simplified hull put part of the sole on a facet that tilts by up to 3 deg, because one outline vertex was 0.37 mm off the plane. The MJCF does not reference the hull, so the capsules stay the default. A consumer gets the hull from get_foot_hull_path() and replaces the capsules of each foot with it. lite-description-foot-hull builds the hull again from the shoe mesh in the MJCF. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9
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meshes/collision/<side>_foot_hull.stltolite_biped: the convex hull of the shoe up to 25 mm above the sole, with 32 vertices and an exactly flat bottom (one 10-vertex polygon, 105 cm²). The MJCF does not reference it, so the seven sole capsules stay the default. lite-motion-tracking#7 trains on it.get_foot_hull_path(variant, side)returns the STL. The README shows how to replace the capsules with it.lite-description-foot-hull lite_bipedbuilds the hull again from the shoe mesh in the MJCF.Hull against the capsules
Measured on
lite_biped. Drops are of a free 8 kg foot, 256 per case:Test plan
pytest: 1609 passed, 36 skipped. The 4 hull tests check that the bottom is one level face on the plane where the capsules bottom out, that the two sides mirror, and thatlite_biped_debughas no hull.lite-description-foot-hull lite_bipedgives the committed hulls again, byte for byte.lite_bipedspec compiles with the hull, with the mass of the capsule spec (11.48 kg).🤖 Generated with Claude Code
https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9