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

add B1 rotor offset

This commit is contained in:
TrivasZhang 2022-11-11 02:20:34 +08:00
parent f0c53dda5d
commit e547e583e5
1 changed files with 23 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
robots/b1_description/xacro/const.xacro
View File

@ -33,6 +33,29 @@
<xacro:property name="trunk_offset_z" value="0.01675"/> <xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.12675"/> <xacro:property name="hip_offset" value="0.12675"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.3455"/>
<xacro:property name="hip_offset_y" value="0.072"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.1955"/>
<xacro:property name="hip_rotor_offset_y" value="0.072"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.12675"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="0.00935"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.35"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.0519"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits --> <!-- joint limits -->
<xacro:property name="damping" value="0"/> <xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/> <xacro:property name="friction" value="0"/>