update inertial params and add _isaacgym files
This commit is contained in:
yecheng.shao
parent
6acf8832d6
commit
1a3e6489c0
|
|
@ -5,13 +5,13 @@
|
|||
This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid
|
||||
Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
|
||||
The file `urdf/h1.urdf` is description for H1 without hands, and `urdf/h1_with_hand.urdf` for H1 with hands.
|
||||
The file `urdf/h1.urdf` is description for H1 without hands, and `urdf/h1_with_hand.urdf` for H1 with dexterous hands. For IsaacGym users, please the file with `_isaacgym.urdf` to avoid some visualization issues.
|
||||
|
||||
<p align="center">
|
||||
<img src="doc/H1.png" width="500"/>
|
||||
</p>
|
||||
|
||||
H1 Humanoid have 19 joints:
|
||||
Basic H1 Humanoid have 19 joints:
|
||||
|
||||
```text
|
||||
root [⚓] => /pelvis/
|
||||
|
|
|
|||
|
|
@ -294,17 +294,17 @@ Stephen Brawner (brawner@gmail.com)
|
|||
name="left_ankle_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.048568 0 -0.045609"
|
||||
xyz="0.042575 -0.000001 -0.044672"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.552448" />
|
||||
value="0.474" />
|
||||
<inertia
|
||||
ixx="0.000156"
|
||||
ixy="0"
|
||||
ixz="0.000143"
|
||||
iyy="0.003620"
|
||||
iyz="0"
|
||||
izz="0.003551" />
|
||||
ixx="0.000159668"
|
||||
ixy="-0.000000005"
|
||||
ixz="0.000141063"
|
||||
iyy="0.002900286"
|
||||
iyz="0.000000014"
|
||||
izz="0.002805438" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -584,17 +584,17 @@ Stephen Brawner (brawner@gmail.com)
|
|||
name="right_ankle_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.048568 0 -0.045609"
|
||||
xyz="0.042575 0.000001 -0.044672"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.552448" />
|
||||
value="0.474" />
|
||||
<inertia
|
||||
ixx="0.000156"
|
||||
ixy="0"
|
||||
ixz="0.000143"
|
||||
iyy="0.003620"
|
||||
iyz="0"
|
||||
izz="0.003551" />
|
||||
ixx="0.000159668"
|
||||
ixy="0.000000005"
|
||||
ixz="0.000141063"
|
||||
iyy="0.002900286"
|
||||
iyz="-0.000000014"
|
||||
izz="0.002805438" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -4,17 +4,17 @@
|
|||
name="pelvis">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="3.31722511855514E-06 2.5546944378684E-07 -0.0427174809482497"
|
||||
xyz="-0.0002 4E-05 -0.04522"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="2.46720698341788" />
|
||||
value="5.39" />
|
||||
<inertia
|
||||
ixx="0.0155794040240623"
|
||||
ixy="-1.70900789186328E-07"
|
||||
ixz="-2.64171934477548E-07"
|
||||
iyy="0.00425456762413368"
|
||||
iyz="1.32904382115621E-08"
|
||||
izz="0.0177014785496157" />
|
||||
ixx="0.044582"
|
||||
ixy="8.7034E-05"
|
||||
ixz="-1.9893E-05"
|
||||
iyy="0.0082464"
|
||||
iyz="4.021E-06"
|
||||
izz="0.049021" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -44,17 +44,17 @@
|
|||
name="left_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.0552998470465489 2.32727512759767E-06 0.0125466081929538"
|
||||
xyz="-0.04923 0.0001 0.0072"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.812221266540345" />
|
||||
value="2.244" />
|
||||
<inertia
|
||||
ixx="0.00181988449372547"
|
||||
ixy="7.65213610747462E-08"
|
||||
ixz="-0.000464190352912876"
|
||||
iyy="0.00185317260162015"
|
||||
iyz="3.49347421376249E-08"
|
||||
izz="0.00128996301196461" />
|
||||
ixx="0.0025731"
|
||||
ixy="9.159E-06"
|
||||
ixz="-0.00051948"
|
||||
iyy="0.0030444"
|
||||
iyz="1.949E-06"
|
||||
izz="0.0022883" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -96,23 +96,23 @@
|
|||
lower="-0.43"
|
||||
upper="0.43"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_hip_roll_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00611009201879201 -0.012911613784405 2.28525148823766E-06"
|
||||
xyz="-0.0058 -0.00319 -9E-05"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.760397923884604" />
|
||||
value="2.232" />
|
||||
<inertia
|
||||
ixx="0.000941924987770898"
|
||||
ixy="5.55416617763835E-05"
|
||||
ixz="8.29578746733772E-09"
|
||||
iyy="0.00135078288427786"
|
||||
iyz="6.80474575168109E-08"
|
||||
izz="0.00107007199090097" />
|
||||
ixx="0.0020603"
|
||||
ixy="3.2115E-05"
|
||||
ixz="2.878E-06"
|
||||
iyy="0.0022482"
|
||||
iyz="-7.813E-06"
|
||||
izz="0.0024323" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -142,7 +142,7 @@
|
|||
name="left_hip_roll_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.03946772787 0 0"
|
||||
xyz="0.039468 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="left_hip_yaw_link" />
|
||||
|
|
@ -154,23 +154,23 @@
|
|||
lower="-0.43"
|
||||
upper="0.43"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0124359528977009 -0.0177785309930213 -0.102715684537467"
|
||||
xyz="0.00746 -0.02346 -0.08193"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="2.51390562613671" />
|
||||
value="4.152" />
|
||||
<inertia
|
||||
ixx="0.0462339754048383"
|
||||
ixy="-0.000418263062499571"
|
||||
ixz="0.00333498421418784"
|
||||
iyy="0.0459435477825226"
|
||||
iyz="0.00399425974700521"
|
||||
izz="0.00437682290745374" />
|
||||
ixx="0.082618"
|
||||
ixy="-0.00066654"
|
||||
ixz="0.0040725"
|
||||
iyy="0.081579"
|
||||
iyz="0.0072024"
|
||||
izz="0.0060081" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -200,7 +200,7 @@
|
|||
name="left_hip_pitch_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0.11536462424 0"
|
||||
xyz="0 0.11536 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="left_hip_roll_link" />
|
||||
|
|
@ -212,23 +212,23 @@
|
|||
lower="-1.57"
|
||||
upper="0.56"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_knee_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0111532652986465 -0.00210148358371862 -0.16436342641949"
|
||||
xyz="-0.00136 -0.00512 -0.1384"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.38784062515733" />
|
||||
value="1.721" />
|
||||
<inertia
|
||||
ixx="0.0176588759617023"
|
||||
ixy="-6.81694760107566E-05"
|
||||
ixz="0.000703347720715395"
|
||||
iyy="0.0180835867027155"
|
||||
iyz="0.000143259566014091"
|
||||
izz="0.00127125869292153" />
|
||||
ixx="0.012205"
|
||||
ixy="-6.8431E-05"
|
||||
ixz="0.0010862"
|
||||
iyy="0.012509"
|
||||
iyz="0.00022549"
|
||||
izz="0.0020629" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -270,7 +270,7 @@
|
|||
lower="-0.26"
|
||||
upper="2.05"
|
||||
effort="300"
|
||||
velocity="0" />
|
||||
velocity="14" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_ankle_link">
|
||||
|
|
@ -328,23 +328,23 @@
|
|||
lower="-0.87"
|
||||
upper="0.52"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.0552998734981944 -2.19116210505022E-06 0.0125466010739156"
|
||||
xyz="-0.04923 -0.0001 0.0072"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.812220994092406" />
|
||||
value="2.244" />
|
||||
<inertia
|
||||
ixx="0.00181988459757284"
|
||||
ixy="-7.92404310211978E-08"
|
||||
ixz="-0.000464190519818566"
|
||||
iyy="0.00185317301794793"
|
||||
iyz="-3.65409881564551E-08"
|
||||
izz="0.00128996256133052" />
|
||||
ixx="0.0025731"
|
||||
ixy="-9.159E-06"
|
||||
ixz="-0.00051948"
|
||||
iyy="0.0030444"
|
||||
iyz="-1.949E-06"
|
||||
izz="0.0022883" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -386,23 +386,23 @@
|
|||
lower="-0.43"
|
||||
upper="0.43"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_hip_roll_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00611020944997454 0.0129115573573222 2.30553074595519E-06"
|
||||
xyz="-0.0058 0.00319 -9E-05"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.760400057805762" />
|
||||
value="2.232" />
|
||||
<inertia
|
||||
ixx="0.000941929527765284"
|
||||
ixy="-5.55428898773058E-05"
|
||||
ixz="8.89614878164627E-09"
|
||||
iyy="0.00135078866650044"
|
||||
iyz="-6.86505933741414E-08"
|
||||
izz="0.00107007557612766" />
|
||||
ixx="0.0020603"
|
||||
ixy="-3.2115E-05"
|
||||
ixz="2.878E-06"
|
||||
iyy="0.0022482"
|
||||
iyz="7.813E-06"
|
||||
izz="0.0024323" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -432,7 +432,7 @@
|
|||
name="right_hip_roll_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.03946772787 0 0"
|
||||
xyz="0.039468 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_hip_yaw_link" />
|
||||
|
|
@ -444,23 +444,23 @@
|
|||
lower="-0.43"
|
||||
upper="0.43"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0124359930114926 0.0177784573102787 -0.102716658926343"
|
||||
xyz="0.00746 0.02346 -0.08193"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="2.51391221514723" />
|
||||
value="4.152" />
|
||||
<inertia
|
||||
ixx="0.0462347590313498"
|
||||
ixy="0.000418268143106936"
|
||||
ixz="0.00333508240549552"
|
||||
iyy="0.0459443173081576"
|
||||
iyz="-0.00399432390662422"
|
||||
izz="0.00437681495700316" />
|
||||
ixx="0.082618"
|
||||
ixy="0.00066654"
|
||||
ixz="0.0040725"
|
||||
iyy="0.081579"
|
||||
iyz="-0.0072024"
|
||||
izz="0.0060081" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -490,7 +490,7 @@
|
|||
name="right_hip_pitch_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 -0.11536462424 0"
|
||||
xyz="0 -0.11536 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_hip_roll_link" />
|
||||
|
|
@ -502,23 +502,23 @@
|
|||
lower="-1.57"
|
||||
upper="0.56"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_knee_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0111532054494979 0.00210147201777963 -0.164362889115614"
|
||||
xyz="-0.00136 0.00512 -0.1384"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.38785091435145" />
|
||||
value="1.721" />
|
||||
<inertia
|
||||
ixx="0.0176589354193338"
|
||||
ixy="6.81692212087034E-05"
|
||||
ixz="0.00070335289606269"
|
||||
iyy="0.0180836459434297"
|
||||
iyz="-0.000143258860211554"
|
||||
izz="0.00127126016185647" />
|
||||
ixx="0.012205"
|
||||
ixy="6.8431E-05"
|
||||
ixz="0.0010862"
|
||||
iyy="0.012509"
|
||||
iyz="-0.00022549"
|
||||
izz="0.0020629" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -560,7 +560,7 @@
|
|||
lower="-0.26"
|
||||
upper="2.05"
|
||||
effort="300"
|
||||
velocity="0" />
|
||||
velocity="14" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_ankle_link">
|
||||
|
|
@ -618,23 +618,23 @@
|
|||
lower="-0.87"
|
||||
upper="0.52"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="torso_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0019209642948768 -3.63188229712087E-07 0.269096889041749"
|
||||
xyz="0.000489 0.002797 0.20484"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="15.3277728264048" />
|
||||
value="17.789" />
|
||||
<inertia
|
||||
ixx="0.422617821814499"
|
||||
ixy="-1.32755992528604E-06"
|
||||
ixz="-0.0107840988303801"
|
||||
iyy="0.387119328646928"
|
||||
iyz="1.43678896468394E-06"
|
||||
izz="0.0895823037542743" />
|
||||
ixx="0.4873"
|
||||
ixy="-0.00053763"
|
||||
ixz="0.0020276"
|
||||
iyy="0.40963"
|
||||
iyz="-0.00074582"
|
||||
izz="0.12785" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -676,23 +676,23 @@
|
|||
lower="-2.35"
|
||||
upper="2.35"
|
||||
effort="200"
|
||||
velocity="0" />
|
||||
velocity="23" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00431423428819262 0.0545680722429941 -0.0158057885614539"
|
||||
xyz="0.005045 0.053657 -0.015715"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.39711525759175" />
|
||||
value="1.033" />
|
||||
<inertia
|
||||
ixx="0.000426933371038538"
|
||||
ixy="3.3131010585919E-06"
|
||||
ixz="-1.12961756205576E-06"
|
||||
iyy="0.000319447136982771"
|
||||
iyz="1.32534140926153E-05"
|
||||
izz="0.000344820669777049" />
|
||||
ixx="0.0012985"
|
||||
ixy="-1.7333E-05"
|
||||
ixz="8.683E-06"
|
||||
iyy="0.00087279"
|
||||
iyz="3.9656E-05"
|
||||
izz="0.00097338" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -722,8 +722,8 @@
|
|||
name="left_shoulder_pitch_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0055 0.155354297602023 0.429991895369114"
|
||||
rpy="0.43633231299858 0 0" />
|
||||
xyz="0.0055 0.15535 0.42999"
|
||||
rpy="0.43633 0 0" />
|
||||
<parent
|
||||
link="torso_link" />
|
||||
<child
|
||||
|
|
@ -734,23 +734,23 @@
|
|||
lower="-2.87"
|
||||
upper="2.87"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00506927781751245 -0.000350708976701253 -0.102229263710221"
|
||||
xyz="0.000679 0.00115 -0.094076"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.291989882010004" />
|
||||
value="0.793" />
|
||||
<inertia
|
||||
ixx="0.000420736177139627"
|
||||
ixy="-1.38579766838052E-06"
|
||||
ixz="-9.44887032649605E-05"
|
||||
iyy="0.00045163585569499"
|
||||
iyz="-4.71688243530896E-06"
|
||||
izz="0.000327311700509138" />
|
||||
ixx="0.0015742"
|
||||
ixy="2.298E-06"
|
||||
ixz="-7.2265E-05"
|
||||
iyy="0.0016973"
|
||||
iyz="-6.3691E-05"
|
||||
izz="0.0010183" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -780,8 +780,8 @@
|
|||
name="left_shoulder_roll_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0055 0.0565000000018586 -0.0165"
|
||||
rpy="-0.43633231299858 0 0" />
|
||||
xyz="-0.0055 0.0565 -0.0165"
|
||||
rpy="-0.43633 0 0" />
|
||||
<parent
|
||||
link="left_shoulder_pitch_link" />
|
||||
<child
|
||||
|
|
@ -792,23 +792,23 @@
|
|||
lower="-0.34"
|
||||
upper="3.11"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00778389584984959 0.000767058526100817 -0.125431328972536"
|
||||
xyz="0.01365 0.002767 -0.16266"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.681412366138755" />
|
||||
value="0.839" />
|
||||
<inertia
|
||||
ixx="0.0034501083469846"
|
||||
ixy="-3.72566385545378E-06"
|
||||
ixz="0.000348455120219903"
|
||||
iyy="0.00364220548154351"
|
||||
iyz="3.07109813186911E-05"
|
||||
izz="0.000431079833886041" />
|
||||
ixx="0.003664"
|
||||
ixy="-1.0671E-05"
|
||||
ixz="0.00034733"
|
||||
iyy="0.0040789"
|
||||
iyz="7.0213E-05"
|
||||
izz="0.00066383" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -849,8 +849,8 @@
|
|||
<limit
|
||||
lower="-1.3"
|
||||
upper="4.45"
|
||||
effort="15"
|
||||
velocity="0" />
|
||||
effort="18"
|
||||
velocity="20" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_elbow_link">
|
||||
|
|
@ -907,8 +907,8 @@
|
|||
<limit
|
||||
lower="-1.25"
|
||||
upper="2.61"
|
||||
effort="15"
|
||||
velocity="0" />
|
||||
effort="18"
|
||||
velocity="20" />
|
||||
</joint>
|
||||
<link
|
||||
name="left_hand_link">
|
||||
|
|
@ -965,8 +965,8 @@
|
|||
<limit
|
||||
lower="-3.0543261909900767596164588448551"
|
||||
upper="3.0543261909900767596164588448551"
|
||||
effort="7"
|
||||
velocity="0" />
|
||||
effort="6"
|
||||
velocity="12" />
|
||||
</joint>
|
||||
<joint
|
||||
name="L_base_link_joint"
|
||||
|
|
@ -1701,17 +1701,17 @@
|
|||
name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00431422175136645 -0.0545680787603574 -0.0158057806958861"
|
||||
xyz="0.005045 -0.053657 -0.015715"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.397115199412805" />
|
||||
value="1.033" />
|
||||
<inertia
|
||||
ixx="0.000426933390625267"
|
||||
ixy="-3.31334388566935E-06"
|
||||
ixz="-1.12956544864161E-06"
|
||||
iyy="0.000319446999853806"
|
||||
iyz="-1.32532524614685E-05"
|
||||
izz="0.000344820853743014" />
|
||||
ixx="0.0012985"
|
||||
ixy="1.7333E-05"
|
||||
ixz="8.683E-06"
|
||||
iyy="0.00087279"
|
||||
iyz="-3.9656E-05"
|
||||
izz="0.00097338" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -1741,8 +1741,8 @@
|
|||
name="right_shoulder_pitch_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.0055 -0.155354297602023 0.429991895369114"
|
||||
rpy="-0.43633231299858 0 0" />
|
||||
xyz="0.0055 -0.15535 0.42999"
|
||||
rpy="-0.43633 0 0" />
|
||||
<parent
|
||||
link="torso_link" />
|
||||
<child
|
||||
|
|
@ -1753,23 +1753,23 @@
|
|||
lower="-2.87"
|
||||
upper="2.87"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0050692009517695 0.000350652484244984 -0.102229219490617"
|
||||
xyz="0.000679 -0.00115 -0.094076"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.291991233598522" />
|
||||
value="0.793" />
|
||||
<inertia
|
||||
ixx="0.000420738020082048"
|
||||
ixy="1.3867065503541E-06"
|
||||
ixz="-9.4488534085745E-05"
|
||||
iyy="0.000451637571048155"
|
||||
iyz="4.71690087354637E-06"
|
||||
izz="0.00032731250134499" />
|
||||
ixx="0.0015742"
|
||||
ixy="-2.298E-06"
|
||||
ixz="-7.2265E-05"
|
||||
iyy="0.0016973"
|
||||
iyz="6.3691E-05"
|
||||
izz="0.0010183" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -1799,8 +1799,8 @@
|
|||
name="right_shoulder_roll_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.0055 -0.0565000000018587 -0.0165"
|
||||
rpy="0.43633231299858 0 0" />
|
||||
xyz="-0.0055 -0.0565 -0.0165"
|
||||
rpy="0.43633 0 0" />
|
||||
<parent
|
||||
link="right_shoulder_pitch_link" />
|
||||
<child
|
||||
|
|
@ -1811,23 +1811,23 @@
|
|||
lower="-3.11"
|
||||
upper="0.34"
|
||||
effort="40"
|
||||
velocity="0" />
|
||||
velocity="9" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00778534571932127 -0.000767745515027396 -0.125434157510562"
|
||||
xyz="0.01365 -0.002767 -0.16266"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.681426758035702" />
|
||||
value="0.839" />
|
||||
<inertia
|
||||
ixx="0.00345015704507685"
|
||||
ixy="3.75079238462045E-06"
|
||||
ixz="0.000348545200584949"
|
||||
iyy="0.00364231385191047"
|
||||
iyz="-3.07151563883643E-05"
|
||||
izz="0.00043113614520676" />
|
||||
ixx="0.003664"
|
||||
ixy="1.0671E-05"
|
||||
ixz="0.00034733"
|
||||
iyy="0.0040789"
|
||||
iyz="-7.0213E-05"
|
||||
izz="0.00066383" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
|
|
@ -1868,10 +1868,9 @@
|
|||
<limit
|
||||
lower="-4.45"
|
||||
upper="1.3"
|
||||
effort="15"
|
||||
velocity="0" />
|
||||
effort="18"
|
||||
velocity="20" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="right_elbow_link">
|
||||
<inertial>
|
||||
|
|
@ -1927,8 +1926,8 @@
|
|||
<limit
|
||||
lower="-1.25"
|
||||
upper="2.61"
|
||||
effort="15"
|
||||
velocity="0" />
|
||||
effort="18"
|
||||
velocity="20" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_hand_link">
|
||||
|
|
@ -1985,8 +1984,8 @@
|
|||
<limit
|
||||
lower="-3.0543261909900767596164588448551"
|
||||
upper="3.0543261909900767596164588448551"
|
||||
effort="7"
|
||||
velocity="0" />
|
||||
effort="6"
|
||||
velocity="12" />
|
||||
</joint>
|
||||
|
||||
<joint
|
||||
|
|
@ -2720,27 +2719,13 @@
|
|||
</joint>
|
||||
<link
|
||||
name="logo_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-3.11982502935774E-09 0.00121715353088297 0.383821850968879"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.014618114050549" />
|
||||
<inertia
|
||||
ixx="1.19912416942028E-06"
|
||||
ixy="1.09302002295816E-13"
|
||||
ixz="4.27296305445089E-15"
|
||||
iyy="7.5811401810277E-07"
|
||||
iyz="1.59497688389296E-09"
|
||||
izz="4.70855407007677E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://h1_description/meshes/logo_link_gray.dae" />
|
||||
filename="package://h1_description/meshes/logo_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue