Mechanical Structure
Mechanical Dimensions
Section titled “Mechanical Dimensions”Key Dimensions
Section titled “Key Dimensions”★ Key dimensions are measured with the robot in a standing posture. Measurements may vary depending on the standing configuration.
Mechanical Interfaces
Section titled “Mechanical Interfaces”Rear Interface
Wrist Interface
DR02 Pro
Section titled “DR02 Pro”Rear Interface
Wrist Interface
Robot Body Frame
Section titled “Robot Body Frame”The body frame (base_link) is defined using the right-hand coordinate system as shown in the figure below. The X-axis (red) points forward, the Y-axis (green) points to the robot’s left, and the Z-axis (blue) points upward. The origin of the coordinate frame is located at the intersection of the waist yaw joint rotation axis and the hip pitch joint rotation axis.
Body Sensor Positions
Section titled “Body Sensor Positions”| Sensor | Coordinate Values (relative to body frame) | ||
|---|---|---|---|
| X(mm) | Y(mm) | Z(mm) | |
| IMU (Body) | -0.33 | 1.49 | -65.20 |
| IMU (Head) | -0.33 | 21.95 | 854.29 |
| Wide-Angle Camera | 99.80 | 0.00 | 701.50 |
| LiDAR | 97.84 | 0.00 | 754.50 |
| Head Depth Camera | 118.71 | 17.50 | 799.60 |
| Front Depth Camera | 125.59 | 17.50 | 368.41 |
| Rear Depth Camera | -112.41 | -17.50 | 252.74 |
★ Additional dynamics parameters of the DR02 can be found in the DR02 Standard URDF model and DR02 Pro URDF model.