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unitree_ros
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update b1 URDF dae file

This commit is contained in:
LuoBin 2024-03-27 00:13:40 -04:00
parent 0b8babcfd8
commit f55e35f5d6
1 changed files with 26 additions and 26 deletions
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52
robots/b1_description/xacro/b1.urdf
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@ -307,14 +307,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/trunkb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -365,14 +365,14 @@
<visual>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -418,14 +418,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -471,14 +471,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -578,14 +578,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -631,14 +631,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -684,14 +684,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -791,14 +791,14 @@
<visual>
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -844,14 +844,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thigh_mirrorb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -897,14 +897,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -1004,14 +1004,14 @@
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/hipb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -1057,14 +1057,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/thighb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
@ -1110,14 +1110,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
<mesh filename="package://b1_description/meshes/calfb.dae" scale="1 1 1"/>
</geometry>
</collision>
<inertial>