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updated A1 trunk mass parameters

This commit is contained in:
Bian Zekun 2021-05-20 11:50:32 +08:00
parent 0ce676f72b
commit e863b2d0ad
1 changed files with 10 additions and 10 deletions
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20
robots/a1_description/xacro/const.xacro
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@ -51,16 +51,16 @@
<!-- dynamics inertial value --> <!-- dynamics inertial value -->
<!-- trunk --> <!-- trunk -->
<xacro:property name="trunk_mass" value="4.713"/> <xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.012731"/> <xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.002186"/> <xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="0.000515"/> <xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.016839930"/> <xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="0.000083902"/> <xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="0.000597679"/> <xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.056579028"/> <xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="0.000025134"/> <xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.064713601"/> <xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) --> <!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.696"/> <xacro:property name="hip_mass" value="0.696"/>