EmbodiedAI
/
unitree_ros
mirror of https://github.com/unitreerobotics/unitree_ros.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add go2 rotor inertial to g2's urdf

This commit is contained in:
Unknown 2024-09-11 11:29:18 +08:00
parent 9912563845
commit a615577409
1 changed files with 144 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

144
robots/go2_description/urdf/go2_description.urdf
View File

@ -173,6 +173,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="FL_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
<parent link="base"/>
<child link="FL_hip_rotor"/>
</joint>
<link
name="FL_thigh">
<inertial>
@ -228,6 +240,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="FL_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.00015 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_rotor"/>
</joint>
<link
name="FL_calf">
<inertial>
@ -327,6 +351,18 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 0 0" />
</joint>
<link name="FL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.03235 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf_rotor"/>
</joint>
<link
name="FL_foot">
<inertial>
@ -432,6 +468,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="FR_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
<parent link="base"/>
<child link="FR_hip_rotor"/>
</joint>
<link
name="FR_thigh">
<inertial>
@ -487,6 +535,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="FR_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.00015 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_rotor"/>
</joint>
<link
name="FR_calf">
<inertial>
@ -586,6 +646,18 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 0 0" />
</joint>
<link name="FR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.03235 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf_rotor"/>
</joint>
<link
name="FR_foot">
<inertial>
@ -691,6 +763,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="RL_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
<parent link="base"/>
<child link="RL_hip_rotor"/>
</joint>
<link
name="RL_thigh">
<inertial>
@ -746,6 +830,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="RL_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.00015 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_rotor"/>
</joint>
<link
name="RL_calf">
<inertial>
@ -845,6 +941,18 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 0 0" />
</joint>
<link name="RL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.03235 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf_rotor"/>
</joint>
<link
name="RL_foot">
<inertial>
@ -950,6 +1058,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="RR_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
<parent link="base"/>
<child link="RR_hip_rotor"/>
</joint>
<link
name="RR_thigh">
<inertial>
@ -1005,6 +1125,18 @@ Stephen Brawner (brawner@gmail.com)
effort="23.7"
velocity="30.1" />
</joint>
<link name="RR_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.00015 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_rotor"/>
</joint>
<link
name="RR_calf">
<inertial>
@ -1104,6 +1236,18 @@ Stephen Brawner (brawner@gmail.com)
<axis
xyz="0 0 0" />
</joint>
<link name="RR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647"/>
</inertial>
</link>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.03235 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf_rotor"/>
</joint>
<link
name="RR_foot">
<inertial>