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unitree_ros
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update g1_comp

This commit is contained in:
matheecs 2025-03-20 14:43:00 +08:00
parent 18a7eeb4ba
commit 309665e160
1 changed files with 6 additions and 5 deletions
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11
robots/g1_description/g1_comp.urdf
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@ -896,12 +896,12 @@
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<!-- <collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/xl330_link.STL"/>
</geometry>
</collision>
</collision> -->
</link>
<joint name="xl330_joint" type="revolute">
<origin xyz="0.030518 0 0.52486" rpy="0 0.039968 0"/>
@ -914,7 +914,7 @@
<inertial>
<origin xyz="0.030219 -0.000416 -0.011779" rpy="0 0 0"/>
<mass value="0.096"/>
<inertia ixx="0.000133424" ixy="1.565E-06" ixz="4.1904E-05" iyy="0.000128108" iyz="-7.27E-07" izz="0.000214338"/>
<inertia ixx="0.0001232" ixy="-3.1E-08" ixz="3.1246E-05" iyy="0.000106321" iyz="-5E-09" izz="0.000194649"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
@ -926,9 +926,10 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0.03 0 -0.01" rpy="1.5707963267948966 0 0"/>
<geometry>
<mesh filename="meshes/d455_link.STL"/>
<!-- <mesh filename="meshes/d455_link.STL"/> -->
<cylinder length="0.1" radius="0.015"/>
</geometry>
</collision>
</link>