EmbodiedAI
/
unitree_ros
mirror of https://github.com/unitreerobotics/unitree_ros.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

update b1 xacro dae file

This commit is contained in:
LuoBin 2024-03-27 00:18:12 -04:00
parent f55e35f5d6
commit 00a5f5a98b
2 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
robots/b1_description/xacro/leg.xacro
View File

@ -63,7 +63,7 @@
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
@ -81,7 +81,7 @@
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -138,10 +138,10 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
@ -150,10 +150,10 @@
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
</collision>
@ -210,14 +210,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>

4
robots/b1_description/xacro/robot.xacro
View File

@ -39,14 +39,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>