EmbodiedAI
/
Go2Py_SIM
mirror of https://github.com/machines-in-motion/Go2Py.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

sensors added to the assets urdf

This commit is contained in:
Rooholla-Khorrambakht 2024-05-27 23:20:53 -04:00
parent 8aa8de7a8c
commit ecf5e5fd9e
2 changed files with 15 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Go2Py/assets/urdf/go2.urdf
View File

@ -660,7 +660,7 @@ Stephen Brawner (brawner@gmail.com)
</inertial> </inertial>
</link> </link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.02557 0 0.04232"/> <origin rpy="0.001697 -0.020900 -0.000007" xyz="-0.027353 -0.005499 0.039913"/>
<parent link="base_link"/> <parent link="base_link"/>
<child link="imu_link"/> <child link="imu_link"/>
<axis xyz="0 0 0"/> <axis xyz="0 0 0"/>

15
deploy/ros2_nodes/go2_description/xacro/robot.xacro
View File

@ -125,7 +125,6 @@
</visual> </visual>
</link> </link>
<joint name="infra2_joint" type="fixed"> <joint name="infra2_joint" type="fixed">
<parent link="trunk"/> <parent link="trunk"/>
<child link="infra1_link"/> <child link="infra1_link"/>
@ -157,6 +156,20 @@
<!-- <material name="red"/> --> <!-- <material name="red"/> -->
</visual> </visual>
</link> </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="utlidar_joint" type="fixed">
<origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
<parent link="base_link"/>
<child link="utlidar"/>
<axis xyz="0 0 0"/>
</joint>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" /> <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" /> <xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />