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unitree_ros
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modify some inertial parameters in B2 and B2W

This commit is contained in:
BDLUO 2024-06-05 11:40:51 +08:00
parent e943f96649
commit 6997c67da6
2 changed files with 236 additions and 236 deletions
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212
robots/b2_description/urdf/b2_description.urdf
View File

@ -11,7 +11,7 @@
xyz="0.000458 0.005261 0.000665"
rpy="0 0 0" />
<mass
value="35.606" />
value="35.86" />
<inertia
ixx="0.27466"
ixy="-0.000622"
@ -47,17 +47,17 @@
name="lidar_link">
<inertial>
<origin
xyz="4.22E-15 1.05E-14 -3.05E-16"
xyz="0.34218 0 0.17851"
rpy="0 0 0" />
<mass
value="6.55E-08" />
value="4.19E-15" />
<inertia
ixx="1.64E-15"
ixy="0"
ixz="-1.09E-47"
iyy="1.64E-15"
iyz="-1.32E-47"
izz="1.64E-15" />
ixx="1.68E-27"
ixy="-3.2E-45"
ixz="7.68E-44"
iyy="1.68E-27"
iyz="-9.26E-47"
izz="1.68E-27" />
</inertial>
<collision>
<origin
@ -87,17 +87,17 @@
name="f_dc_link">
<inertial>
<origin
xyz="-3.47E-18 -1.11E-16 1.11E-16"
xyz="3.47E-18 0 5.55E-17"
rpy="0 0 0" />
<mass
value="6.54E-08" />
value="4.19E-15" />
<inertia
ixx="1.64E-15"
ixy="1.87E-32"
ixz="-6.15E-32"
iyy="1.64E-15"
iyz="4.93E-32"
izz="1.64E-15" />
ixx="1.68E-27"
ixy="-9.81E-45"
ixz="-2.54E-44"
iyy="1.68E-27"
iyz="0"
izz="1.68E-27" />
</inertial>
</link>
<joint
@ -117,17 +117,17 @@
name="r_dc_link">
<inertial>
<origin
xyz="1.63E-16 1.39E-16 2.78E-17"
xyz="-7.46E-16 -3.33E-16 -1.11E-15"
rpy="0 0 0" />
<mass
value="6.55E-08" />
value="4.19E-15" />
<inertia
ixx="1.64E-15"
ixy="-4.94E-44"
ixz="4.36E-43"
iyy="1.64E-15"
ixx="1.68E-27"
ixy="-4.31E-44"
ixz="2.48E-45"
iyy="1.68E-27"
iyz="0"
izz="1.64E-15" />
izz="1.68E-27" />
</inertial>
</link>
<joint
@ -147,17 +147,17 @@
name="imu_link">
<inertial>
<origin
xyz="-1.11E-16 -2.81E-16 -1.32E-16"
xyz="-2.02E-17 1.73E-17 -1.39E-17"
rpy="0 0 0" />
<mass
value="6.54E-08" />
value="4.19E-15" />
<inertia
ixx="1.64E-15"
ixy="0"
ixz="-1.09E-47"
iyy="1.64E-15"
iyz="-1.32E-47"
izz="1.64E-15" />
ixx="1.68E-27"
ixy="1.84E-44"
ixz="-7.35E-44"
iyy="1.68E-27"
iyz="-3.67E-44"
izz="1.68E-27" />
</inertial>
</link>
<joint
@ -180,7 +180,7 @@
xyz="0.33989 -0.000168 0.12029"
rpy="0 0 0" />
<mass
value="3.366" />
value="3.6885" />
<inertia
ixx="0.026455"
ixy="3.15E-05"
@ -218,7 +218,7 @@
xyz="-0.37448 0.000488 0.006495"
rpy="0 0 0" />
<mass
value="0.777" />
value="0.795" />
<inertia
ixx="0.0028118"
ixy="1.95E-05"
@ -253,17 +253,17 @@
name="FL_hip">
<inertial>
<origin
xyz="-0.009305 -0.010228 0.000264"
xyz="-0.003841 -0.009068 0"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
<inertia
ixx="0.0026431"
ixy="0.00019234"
ixz="-6.76E-06"
iyy="0.0046728"
iyz="-7.16E-06"
izz="0.0034208" />
ixx="0.0033188"
ixy="7.16E-05"
ixz="-3.77E-07"
iyy="0.0048743"
iyz="4E-09"
izz="0.0037087" />
</inertial>
<visual>
<origin
@ -334,17 +334,17 @@
name="FL_thigh">
<inertial>
<origin
xyz="-0.004346 -0.035797 -0.044921"
xyz="-0.006279 -0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
<inertia
ixx="0.041718"
ixy="0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="0.005796"
izz="0.0065677" />
ixx="0.062299"
ixy="0.00087781"
ixz="-0.0036475"
iyy="0.061399"
iyz="0.0083537"
izz="0.0081997" />
</inertial>
<visual>
<origin
@ -418,7 +418,7 @@
xyz="0.012422 0 -0.12499"
rpy="0 0 0" />
<mass
value="0.58094" />
value="0.404" />
<inertia
ixx="0.01143"
ixy="0"
@ -515,7 +515,7 @@
xyz="-0.006511 0 -0.010144"
rpy="0 0 0" />
<mass
value="0.098183" />
value="0.126" />
<inertia
ixx="3.8E-05"
ixy="0"
@ -629,17 +629,17 @@
name="FR_thigh">
<inertial>
<origin
xyz="-0.004346 0.035797 -0.044921"
xyz="-0.006279 0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
<inertia
ixx="0.041718"
ixy="-0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="-0.005796"
izz="0.0065677" />
ixx="0.06229908"
ixy="-0.000877808"
ixz="-0.003647464"
iyy="0.06139927"
iyz="-0.008353671"
izz="0.008199745" />
</inertial>
<visual>
<origin
@ -711,7 +711,7 @@
xyz="0.012422 0 -0.12499"
rpy="0 0 0" />
<mass
value="0.58094" />
value="0.404" />
<inertia
ixx="0.01143"
ixy="0"
@ -809,7 +809,7 @@
xyz="-0.006511 0 -0.010144"
rpy="0 0 0" />
<mass
value="0.098183" />
value="0.126" />
<inertia
ixx="3.8E-05"
ixy="0"
@ -923,17 +923,17 @@
name="RL_thigh">
<inertial>
<origin
xyz="-0.004346 -0.035797 -0.044921"
xyz="-0.006279 -0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
<inertia
ixx="0.041718"
ixy="0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="0.005796"
izz="0.0065677" />
ixx="0.06229908"
ixy="0.000877808"
ixz="-0.003647464"
iyy="0.06139927"
iyz="0.008353671"
izz="0.008199745" />
</inertial>
<visual>
<origin
@ -1005,7 +1005,7 @@
xyz="0.012422 0 -0.12499"
rpy="0 0 0" />
<mass
value="0.58094" />
value="0.404" />
<inertia
ixx="0.01143"
ixy="0"
@ -1102,7 +1102,7 @@
xyz="-0.006511 0 -0.010144"
rpy="0 0 0" />
<mass
value="0.098183" />
value="0.126" />
<inertia
ixx="3.8E-05"
ixy="0"
@ -1135,17 +1135,17 @@
name="RR_hip">
<inertial>
<origin
xyz="0.009305 -0.010228 0.000264"
xyz="0.003841 0.009068 0"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
<inertia
ixx="0.0026431"
ixy="0.00019234"
ixz="6.76E-06"
iyy="0.0046728"
iyz="7.16E-06"
izz="0.0034208" />
ixx="0.0033188"
ixy="7.16E-05"
ixz="3.77E-07"
iyy="0.0048743"
iyz="-4E-09"
izz="0.0037087" />
</inertial>
<visual>
<origin
@ -1216,17 +1216,17 @@
name="RR_thigh">
<inertial>
<origin
xyz="-0.004346 0.035797 -0.044921"
xyz="-0.006279 0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
<inertia
ixx="0.041718"
ixy="-0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="-0.005796"
izz="0.0065677" />
ixx="0.062299"
ixy="-0.00087781"
ixz="-0.0036475"
iyy="0.061399"
iyz="-0.0083537"
izz="0.0081997" />
</inertial>
<visual>
<origin
@ -1298,7 +1298,7 @@
xyz="0.012422 0 -0.12499"
rpy="0 0 0" />
<mass
value="0.58094" />
value="0.404" />
<inertia
ixx="0.01143"
ixy="0"
@ -1395,7 +1395,7 @@
xyz="-0.006511 0 -0.010144"
rpy="0 0 0" />
<mass
value="0.098183" />
value="0.126" />
<inertia
ixx="3.8E-05"
ixy="0"
@ -1428,17 +1428,17 @@
name="f_oc_link">
<inertial>
<origin
xyz="-2.78E-17 1.73E-18 0"
xyz="-3.39E-15 1.46E-16 -6.11E-16"
rpy="0 0 0" />
<mass
value="6.55E-08" />
value="4.19E-15" />
<inertia
ixx="1.64E-15"
ixy="-1.32E-47"
ixz="0"
iyy="1.64E-15"
iyz="1.09E-47"
izz="1.64E-15" />
ixx="1.68E-27"
ixy="-3.89E-44"
ixz="5.04E-44"
iyy="1.68E-27"
iyz="2.81E-45"
izz="1.68E-27" />
</inertial>
<!-- <visual>
<origin
@ -1481,17 +1481,17 @@
name="r_oc_link">
<inertial>
<origin
xyz="-1.3E-19 3.47E-18 -5.55E-17"
xyz="-0.39143 1.52E-07 -0.011961"
rpy="0 0 0" />
<mass
value="6.55E-08" />
value="4.19E-12" />
<inertia
ixx="1.64E-15"
ixy="1.33E-47"
ixz="-6.38E-33"
iyy="1.64E-15"
iyz="-1.64E-47"
izz="1.64E-15" />
ixx="1.68E-22"
ixy="9.03E-39"
ixz="0"
iyy="1.68E-22"
iyz="-1.2E-38"
izz="1.68E-22" />
</inertial>
<!-- <visual>
<origin

260
robots/b2w_description/urdf/b2w_description.urdf
View File

@ -180,7 +180,7 @@
xyz="0.33989 -0.000168 0.12029"
rpy="0 0 0" />
<mass
value="3.366" />
value="3.6885" />
<inertia
ixx="0.026455"
ixy="3.15E-05"
@ -218,7 +218,7 @@
xyz="-0.37448 0.000488 0.006495"
rpy="0 0 0" />
<mass
value="0.777" />
value="0.795" />
<inertia
ixx="0.0028118"
ixy="1.95E-05"
@ -253,17 +253,17 @@
name="FL_hip">
<inertial>
<origin
xyz="-0.009305 -0.010228 0.000264"
xyz="-0.003841 -0.009068 0"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
<inertia
ixx="0.0026431"
ixy="0.00019234"
ixz="-6.76E-06"
iyy="0.0046728"
iyz="-7.16E-06"
izz="0.0034208" />
ixx="0.0033188"
ixy="7.16E-05"
ixz="-3.77E-07"
iyy="0.0048743"
iyz="4E-09"
izz="0.0037087" />
</inertial>
<visual>
<origin
@ -310,17 +310,17 @@
name="FL_thigh">
<inertial>
<origin
xyz="-0.004346 -0.035797 -0.044921"
xyz="-0.006279 -0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
<inertia
ixx="0.041718"
ixy="0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="0.005796"
izz="0.0065677" />
ixx="0.062299"
ixy="0.00087781"
ixz="-0.0036475"
iyy="0.061399"
iyz="0.0083537"
izz="0.0081997" />
</inertial>
<visual>
<origin
@ -367,17 +367,17 @@
name="FL_calf">
<inertial>
<origin
xyz="0.006095 0.012046 -0.29122"
xyz="0.005278 0.017301 -0.29778"
rpy="0 0 0" />
<mass
value="2.053" />
value="2.2906" />
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ixx="0.028133"
ixy="0.00016307"
ixz="-0.0010034"
iyy="0.029251"
iyz="0.0014765"
izz="0.0028379" />
ixx="0.029283"
ixy="0.000221"
ixz="-0.001064"
iyy="0.030868"
iyz="0.002093"
izz="0.00326" />
</inertial>
<visual>
<origin
@ -425,17 +425,17 @@
name="FL_foot">
<inertial>
<origin
xyz="0 0.051576 0"
xyz="-0.000991 0.051053 -0.00113"
rpy="0 0 0" />
<mass
value="0.918" />
value="1.083" />
<inertia
ixx="0.0032475"
ixy="0"
ixz="0"
iyy="0.0061101"
iyz="0"
izz="0.003235" />
ixx="0.004121"
ixy="6E-06"
ixz="-4.8E-05"
iyy="0.007776"
iyz="7E-06"
izz="0.004108" />
</inertial>
<visual>
<origin
@ -481,17 +481,17 @@
name="FR_hip">
<inertial>
<origin
xyz="-0.009305 0.010228 0.000264"
xyz="-0.003841 0.009068 0"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
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ixx="0.0026431"
ixy="-0.00019234"
ixz="-6.76E-06"
iyy="0.0046728"
iyz="7.16E-06"
izz="0.0034208" />
ixx="0.003318772"
ixy="-7.16E-05"
ixz="-3.77E-07"
iyy="0.004874327"
iyz="-4E-09"
izz="0.003708731" />
</inertial>
<visual>
<origin
@ -538,17 +538,17 @@
name="FR_thigh">
<inertial>
<origin
xyz="-0.004346 0.035797 -0.044921"
xyz="-0.006279 0.032049 -0.057835"
rpy="0 0 0" />
<mass
value="3.591" />
value="4.536" />
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ixx="0.041718"
ixy="-0.00055623"
ixz="-0.0022768"
iyy="0.041071"
iyz="-0.005796"
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ixx="0.06229908"
ixy="-0.000877808"
ixz="-0.003647464"
iyy="0.06139927"
iyz="-0.008353671"
izz="0.008199745" />
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<visual>
<origin
@ -593,17 +593,17 @@
name="FR_calf">
<inertial>
<origin
xyz="0.006095 -0.012046 -0.29122"
xyz="0.005278 -0.017301 -0.297775"
rpy="0 0 0" />
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value="2.053" />
value="2.290557" />
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ixy="-0.00016307"
ixz="-0.0010034"
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iyy="0.030868"
iyz="-0.002093"
izz="0.00326" />
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<origin
@ -651,17 +651,17 @@
name="FR_foot">
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xyz="0 -0.051576 0"
xyz="-0.000991 -0.051053 -0.00113"
rpy="0 0 0" />
<mass
value="0.918" />
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ixx="0.0032475"
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iyy="0.0061101"
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ixx="0.004121"
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ixz="-4.8E-05"
iyy="0.007776"
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<origin
@ -707,17 +707,17 @@
name="RL_hip">
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xyz="0.003841 -0.009068 0"
rpy="0 0 0" />
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@ -933,17 +933,17 @@
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xyz="0.009305 -0.010228 0.000264"
xyz="0.003841 0.009068 0"
rpy="0 0 0" />
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value="2.256" />
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