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Go2Py_SIM
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utlidar extrinsics updated

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Rooholla-Khorrambakht 2024-05-27 23:22:10 -04:00
parent ecf5e5fd9e
commit 97d489dd9f
1 changed files with 69 additions and 3 deletions
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Go2Py/assets/urdf/go2.urdf
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@ -665,17 +665,83 @@ Stephen Brawner (brawner@gmail.com)
<child link="imu_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="radar">
<joint name="vicon_joint" type="fixed">
<parent link="trunk"/>
<child link="vicon_link"/>
<origin rpy="-0.037935 -0.066371 -2.668897" xyz="0.022944 -0.000007 0.058458"/>
</joint>
<link name="vicon_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
</link>
<joint name="infra1_joint" type="fixed">
<parent link="trunk"/>
<child link="infra1_link"/>
<origin rpy="-1.641669 -0.014332 -1.617155" xyz="0.321618 0.033305 0.081622"/>
</joint>
<link name="infra1_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
</link>
<joint name="infra2_joint" type="fixed">
<parent link="trunk"/>
<child link="infra1_link"/>
<origin rpy="-1.640637 -0.014093 -1.611177" xyz="0.317969 -0.061919 0.082773"/>
</joint>
<link name="infra2_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
</link>
<joint name="color_joint" type="fixed">
<parent link="trunk"/>
<child link="color_link"/>
<origin rpy="-1.640491 -0.011125 -1.610364" xyz="0.319415 -0.025790 0.082311"/>
</joint>
<link name="color_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
</link>
<link name="utlidar">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="radar_joint" type="fixed">
<joint name="utlidar_joint" type="fixed">
<origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
<parent link="base_link"/>
<child link="radar"/>
<child link="utlidar"/>
<axis xyz="0 0 0"/>
</joint>
</robot>