18 lines
690 B
XML
18 lines
690 B
XML
<?xml version="1.0"?>
|
|
|
|
<!-- configurable constant parameters for b1z1_description -->
|
|
<robot name="b1z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<!-- include B1 constants -->
|
|
<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
|
|
|
|
<!-- Z1 mounting point with respect to B1 trunk -->
|
|
<xacro:property name="arm_offset_x" value="${hip_offset_x}"/>
|
|
<xacro:property name="arm_offset_y" value="0"/>
|
|
<xacro:property name="arm_offset_z" value="${trunk_height/2.0 + 0.01}"/>
|
|
<xacro:property name="arm_offset_r" value="0"/>
|
|
<xacro:property name="arm_offset_p" value="0"/>
|
|
<xacro:property name="arm_offset_yaw" value="0"/>
|
|
|
|
</robot>
|