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update A1 params

This commit is contained in:
TrivasZhang 2020-09-08 10:11:36 +08:00
parent 77dd19decf
commit 6dbbff9de8
1 changed files with 8 additions and 8 deletions
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16
robots/a1_description/xacro/const.xacro
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@ -23,12 +23,12 @@
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08505"/>
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.183"/>
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
@ -38,16 +38,16 @@
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="46"/>
<xacro:property name="hip_min" value="-46"/>
<xacro:property name="hip_velocity_max" value="52.4"/>
<xacro:property name="hip_torque_max" value="20"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_max" value="240"/>
<xacro:property name="thigh_min" value="-60"/>
<xacro:property name="thigh_velocity_max" value="28.6"/>
<xacro:property name="thigh_torque_max" value="55"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_max" value="-52.5"/>
<xacro:property name="calf_min" value="-154.5"/>
<xacro:property name="calf_velocity_max" value="28.6"/>
<xacro:property name="calf_torque_max" value="55"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value -->
<!-- trunk -->