B2-W Wheeled Configuration
--------------------------

The B2-W features specialized wheeled feet, combining speed, adaptability, and cutting-edge design.
Engineered to navigate various terrains and tackle complex tasks with ease, it pushes the boundaries
of robotic mobility, offering enhanced efficiency and versatility in motion.

Wheel Specifications
--------------------

- **Maximum speed:** 50rad/s wheel velocity
- **Weight (With Battery):** About 85kg
- **Standing Height:** 758mm
- **Folded Height:** 450mm

Wheeled Mode Operations
-----------------------

The B2W can switch between various gaits suitable for wheeled locomotion:

.. code-block:: bash

   # Set trotting gait for wheel movement
   ros2 service call /b2_unit_001/hardware/modes \
     b2_interface/srv/B2Modes "{request_data: 'gait_trot'}"

   # Set flat terrain walking mode
   ros2 service call /b2_unit_001/hardware/modes \
     b2_interface/srv/B2Modes "{request_data: 'gait_flatwalk'}"

Payload Configuration
---------------------

The B2-W supports various payload configurations:

- **Maximum Standing Load:** About 40kg
- **Continuous Walking Load:** About 120kg

Additional hardware can be mounted on the robot's back including:

- Unitree Z1 robotic arm
- Pan-tilt camera systems
- Sensor arrays
- Custom payloads

Pan-Tilt Camera Rig
-------------------

The default rig configuration includes a pan-tilt camera system controlled via Dynamixel servos.

**Servo Configuration:**

- **Servo 0 (Pan):** Range 1150-3200, Default 2170
- **Servo 1 (Tilt):** Range 230-900, Default 565

Control via webserver sliders or ROS2 topics:

.. code-block:: bash

   # Center pan servo
   ros2 topic pub --once /dynamixel/servo_0/command \
     std_msgs/msg/Float64 "data: 2170"

   # Center tilt servo
   ros2 topic pub --once /dynamixel/servo_1/command \
     std_msgs/msg/Float64 "data: 565"