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

update b1 xacro mass

This commit is contained in:
LuoBin 2024-03-26 22:39:15 -04:00
parent 316ae37988
commit abcad24b3b
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
robots/b1_description/xacro/const.xacro
View File

@ -74,7 +74,7 @@
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="25"/>
<xacro:property name="trunk_mass" value="29.45"/>
<xacro:property name="trunk_com_x" value="0.008987"/>
<xacro:property name="trunk_com_y" value="0.002243"/>
<xacro:property name="trunk_com_z" value="0.003013"/>
@ -86,7 +86,7 @@
<xacro:property name="trunk_izz" value="0.783777558"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="2.1"/>
<xacro:property name="hip_mass" value="2.15"/>
<xacro:property name="hip_com_x" value="-0.020298"/>
<xacro:property name="hip_com_y" value="0.009758"/>
<xacro:property name="hip_com_z" value="0.000109"/>
@ -109,7 +109,7 @@
<xacro:property name="hip_rotor_izz" value="0.000219397"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="3.934"/>
<xacro:property name="thigh_mass" value="4.3"/>
<xacro:property name="thigh_com_x" value="-0.000235"/>
<xacro:property name="thigh_com_y" value="-0.028704"/>
<xacro:property name="thigh_com_z" value="-0.054169"/>
@ -132,7 +132,7 @@
<xacro:property name="thigh_rotor_izz" value="0.000485657"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.857"/>
<xacro:property name="calf_mass" value="1.05"/>
<xacro:property name="calf_com_x" value="0.005237"/>
<xacro:property name="calf_com_y" value="0.0"/>
<xacro:property name="calf_com_z" value="-0.202805"/>