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unitree_ros
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add b1 realsense link to xacro

This commit is contained in:
LuoBin 2024-03-27 04:33:10 -04:00
parent 00a5f5a98b
commit 1cceae363a
1 changed files with 72 additions and 0 deletions
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72
robots/b1_description/xacro/robot.xacro
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@ -86,6 +86,78 @@
</collision>
</link>
<joint name="left_side_camera_joint" type="fixed">
<parent link="trunk"/>
<child link="left_side_camera_link"/>
<origin rpy="-0.331612 0 0" xyz="-0.1086 0.1371 -0.03077"/>
</joint>
<link name="left_side_camera_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<joint name="right_side_camera_joint" type="fixed">
<parent link="trunk"/>
<child link="right_side_camera_link"/>
<origin rpy="0.331612 0 0" xyz="-0.10190 -0.1371 -0.03077"/>
</joint>
<link name="right_side_camera_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
-
<joint name="head_camera_1_joint" type="fixed">
<parent link="trunk"/>
<child link="head_camera_1_link"/>
<origin rpy="0 0 0" xyz="0.48883 0 0.0255"/>
</joint>
<link name="head_camera_1_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<joint name="head_camera_2_joint" type="fixed">
<parent link="trunk"/>
<child link="head_camera_2_link"/>
<origin rpy="0 0 0" xyz="0.45430 0 -0.081"/>
</joint>
<link name="head_camera_2_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<joint name="tail_camera_joint" type="fixed">
<parent link="trunk"/>
<child link="tail_camera_link"/>
<origin rpy="0 0 0" xyz="-0.459 0 -0.081"/>
</joint>
<link name="tail_camera_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<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" />