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update aliengoZ1_description based on new version of aliengo_description

This commit is contained in:
xiaoliangstd 2023-04-15 14:45:28 +08:00
parent 309d2e0fab
commit 94d0b84520
16 changed files with 9 additions and 52411 deletions
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robots/aliengoZ1_description/xacro/robot.xacro
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@ -117,7 +117,7 @@
</inertial> </inertial>
</link> </link>
<joint name="joint1" type="revolute"> <joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.0585"/> <origin rpy="0 0 0" xyz="0 0 0.0585"/>
<parent link="link00"/> <parent link="link00"/>
<child link="link01"/> <child link="link01"/>
@ -133,12 +133,12 @@
<mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/> <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
</geometry> </geometry>
</visual> </visual>
<!-- <collision> <collision>
<geometry> <geometry>
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/> <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
</geometry> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
</collision> --> </collision>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/> <origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
<mass value="${L01_Mass}"/> <mass value="${L01_Mass}"/>
@ -192,7 +192,7 @@
izz="${L02_Izz}"/> izz="${L02_Izz}"/>
</inertial> </inertial>
</link> </link>
<joint name="joint3" type="revolute"> <joint name="joint3" type="revolute">
<origin rpy="0 0 0" xyz="-0.35 0 0"/> <origin rpy="0 0 0" xyz="-0.35 0 0"/>
<parent link="link02"/> <parent link="link02"/>
@ -320,7 +320,7 @@
izz="${L06_Izz}"/> izz="${L06_Izz}"/>
</inertial> </inertial>
</link> </link>
<xacro:if value="$(arg UnitreeGripper)"> <xacro:if value="$(arg UnitreeGripper)">
<joint name="gripperStator" type="fixed"> <joint name="gripperStator" type="fixed">
<origin rpy="0 0 0" xyz="0.051 0.0 0.0"/> <origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
@ -397,20 +397,9 @@
<xacro:motorTransmission name="5"/> <xacro:motorTransmission name="5"/>
<xacro:motorTransmission name="6"/> <xacro:motorTransmission name="6"/>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True"> <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/> <xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
</xacro:leg> <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
</robot> </robot>