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unitree_ros
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add camera and ladar links/joints in H1 urdf

This commit is contained in:
BDLUO 2024-04-08 16:44:13 +08:00
parent 602965797b
commit 73be4a2b90
2 changed files with 245 additions and 0 deletions
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123
robots/h1_description/urdf/h1.urdf
View File

@ -1143,4 +1143,127 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 0 0" />
</joint>
<link
name="d435_left_imager_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="d435_left_imager_joint"
type="fixed">
<origin
xyz="0.10848474394 0.0175 0.69317107367"
rpy="-2.45735 0 -1.57080" />
<parent
link="torso_link" />
<child
link="d435_left_imager_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="d435_rgb_module_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="d435_rgb_module_joint"
type="fixed">
<origin
xyz="0.10848474394 0.0325 0.69317107367"
rpy="-2.45735 0 -1.57080" />
<parent
link="torso_link" />
<child
link="d435_rgb_module_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="mid360_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="mid360_joint"
type="fixed">
<origin
xyz="0.04729990180 0 0.67492878653"
rpy="0 0.243124 0" />
<parent
link="torso_link" />
<child
link="mid360_link" />
<axis
xyz="0 0 0" />
</joint>
</robot>

122
robots/h1_description/urdf/h1_with_hand.urdf
View File

@ -2688,4 +2688,126 @@
<axis
xyz="0 0 0" />
</joint>
<link
name="d435_left_imager_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="d435_left_imager_joint"
type="fixed">
<origin
xyz="0.10848474394 0.0175 0.69317107367"
rpy="-2.45735 0 -1.57080" />
<parent
link="torso_link" />
<child
link="d435_left_imager_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="d435_rgb_module_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="d435_rgb_module_joint"
type="fixed">
<origin
xyz="0.10848474394 0.0325 0.69317107367"
rpy="-2.45735 0 -1.57080" />
<parent
link="torso_link" />
<child
link="d435_rgb_module_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="mid360_link">
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere
radius="0.001" />
</geometry>
</collision>
</link>
<joint
name="mid360_joint"
type="fixed">
<origin
xyz="0.04729990180 0 0.67492878653"
rpy="0 0.243124 0" />
<parent
link="torso_link" />
<child
link="mid360_link" />
<axis
xyz="0 0 0" />
</joint>
</robot>