URDF incomplete - Githubissues

Sergim96 commented 1 year ago

Hi,

The URDF of B1 is incomplete, we have identified the following missing components and issues:

The IMU link is not properly positioned, instead it is just placed aligned with the trunk.
There is no information about where the 5 Realsense cameras are placed within the robot body.
The collision models of some limbs create internal collisions which result in unstable simulations, as reported in https://github.com/unitreerobotics/unitree_ros/issues/57
The total mass of the robot does not match the weight of the real robot.

Are there any plans to update the URDF?

xyq1223 commented 1 year ago

Hello, thank you very much for your correction, I have already reported this problem to our R&D colleagues, please look forward to our follow-up updates

AlessiaLiNoce commented 10 months ago

Hi, I'm also start to working with the B1. The urdf has been fixed or still have the same issues?

unitreerobotics / unitree_ros

URDF incomplete #69