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unitree_ros
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revise b2 urdf

This commit is contained in:
BDLUO 2024-07-25 21:23:23 +08:00
parent fa16256a76
commit 8bca7f8907
2 changed files with 15 additions and 15 deletions
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4
robots/b2_description/urdf/b2_description.urdf
View File

@ -551,7 +551,7 @@
xyz="-0.009305 0.010228 0.000264"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
<inertia
ixx="0.0026431"
ixy="-0.00019234"
@ -845,7 +845,7 @@
xyz="0.009305 -0.010228 0.000264"
rpy="0 0 0" />
<mass
value="2.256" />
value="2.673" />
<inertia
ixx="0.0026431"
ixy="-0.00019234"

26
robots/b2_description_mujoco/xml/b2.xml
View File

@ -50,7 +50,7 @@
</asset>
<worldbody>
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<joint name="floating_base_joint" type="free"/>
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@ -69,18 +69,18 @@
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<site name="imu" pos="0 -0.02341 0.04927"/>
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@ -93,18 +93,18 @@
</body>
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@ -117,18 +117,18 @@
</body>
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@ -141,18 +141,18 @@
</body>
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