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Go2Py_SIM
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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
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2
Go2Py/assets/urdf/go2.urdf
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@ -660,7 +660,7 @@ Stephen Brawner (brawner@gmail.com)
</inertial>
</link>
<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"/>
<child link="imu_link"/>
<axis xyz="0 0 0"/>

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

@ -125,7 +125,6 @@
</visual>
</link>
<joint name="infra2_joint" type="fixed">
<parent link="trunk"/>
<child link="infra1_link"/>
@ -158,6 +157,20 @@
</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="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="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />