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Update masses and inertias on the robot to match hardware #1392

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Update masses and inertias on the robot to match hardware #1392

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102 changes: 51 additions & 51 deletions zulu/src/main/resources/us/ihmc/zulu/urdf/zulu-full-body.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -6,47 +6,47 @@
<axis xyz="1 0 0"/>
<parent link="PELVIS_LINK"/>
<child link="LEFT_HIP_X_LINK"/>
<limit effort="300" lower="-0.3490658504" upper="0.872664626" velocity="9"/>
<limit effort="160.7" lower="-0.3490658504" upper="0.872664626" velocity="10.38"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="LEFT_HIP_Z" type="revolute">
<origin rpy="0 0 0" xyz="0.06 0.1 -0.08"/>
<axis xyz="0 0 1"/>
<parent link="LEFT_HIP_X_LINK"/>
<child link="LEFT_HIP_Z_LINK"/>
<limit effort="120" lower="-0.3490658504" upper="1.0472" velocity="11"/>
<limit effort="70.5" lower="-0.3490658504" upper="1.0472" velocity="10.59"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="LEFT_HIP_Y" type="revolute">
<origin rpy="0 0 0" xyz="0.1045 -0.0573 -0.0525"/>
<axis xyz="0 1 0"/>
<parent link="LEFT_HIP_Z_LINK"/>
<child link="LEFT_THIGH"/>
<limit effort="400" lower="-2.61799" upper="0.785398" velocity="8"/>
<limit effort="217.2" lower="-2.61799" upper="0.785398" velocity="9.3"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="LEFT_KNEE_Y" type="revolute">
<origin rpy="0 0 0" xyz="0 0.018 -0.32"/>
<axis xyz="0 1 0"/>
<parent link="LEFT_THIGH"/>
<child link="LEFT_SHIN"/>
<limit effort="400" lower="0" upper="2.445206282" velocity="8"/>
<limit effort="217.2" lower="0" upper="2.445206282" velocity="9.3"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="LEFT_ANKLE_Y" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.41"/>
<axis xyz="0 1 0"/>
<parent link="LEFT_SHIN"/>
<child link="LEFT_ANKLE_Y_LINK"/>
<limit effort="360" lower="-1.0472" upper="0.523599" velocity="8"/>
<limit effort="193.6" lower="-1.0472" upper="0.523599" velocity="9.72"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="LEFT_ANKLE_X" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
<axis xyz="1 0 0"/>
<parent link="LEFT_ANKLE_Y_LINK"/>
<child link="LEFT_FOOT"/>
<limit effort="180" lower="-0.436332" upper="0.436332" velocity="8"/>
<limit effort="145.2" lower="-0.436332" upper="0.436332" velocity="9.72"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>

Expand All @@ -56,47 +56,47 @@
<axis xyz="1 0 0"/>
<parent link="PELVIS_LINK"/>
<child link="RIGHT_HIP_X_LINK"/>
<limit effort="300" lower="-0.872664626" upper="0.3490658504" velocity="9"/>
<limit effort="160.7" lower="-0.872664626" upper="0.3490658504" velocity="10.38"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="RIGHT_HIP_Z" type="revolute">
<origin rpy="0 0 0" xyz="0.06 -0.1 -0.08"/>
<axis xyz="0 0 1"/>
<parent link="RIGHT_HIP_X_LINK"/>
<child link="RIGHT_HIP_Z_LINK"/>
<limit effort="120" lower="-1.0472" upper="0.3490658504" velocity="11"/>
<limit effort="70.5" lower="-1.0472" upper="0.3490658504" velocity="10.59"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="RIGHT_HIP_Y" type="revolute">
<origin rpy="0 0 0" xyz="0.1045 0.0573 -0.0525"/>
<axis xyz="0 1 0"/>
<parent link="RIGHT_HIP_Z_LINK"/>
<child link="RIGHT_THIGH"/>
<limit effort="400" lower="-2.61799" upper="0.785398" velocity="8"/>
<limit effort="217.2" lower="-2.61799" upper="0.785398" velocity="9.3"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="RIGHT_KNEE_Y" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.018 -0.32"/>
<axis xyz="0 1 0"/>
<parent link="RIGHT_THIGH"/>
<child link="RIGHT_SHIN"/>
<limit effort="400" lower="0" upper="2.445206282" velocity="8"/>
<limit effort="217.2" lower="0" upper="2.445206282" velocity="9.3"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="RIGHT_ANKLE_Y" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.41"/>
<axis xyz="0 1 0"/>
<parent link="RIGHT_SHIN"/>
<child link="RIGHT_ANKLE_Y_LINK"/>
<limit effort="360" lower="-1.0472" upper="0.523599" velocity="8"/>
<limit effort="193.6" lower="-1.0472" upper="0.523599" velocity="9.72"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>
<joint name="RIGHT_ANKLE_X" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.012"/>
<axis xyz="1 0 0"/>
<parent link="RIGHT_ANKLE_Y_LINK"/>
<child link="RIGHT_FOOT"/>
<limit effort="180" lower="-0.436332" upper="0.436332" velocity="8"/>
<limit effort="145.2" lower="-0.436332" upper="0.436332" velocity="9.72"/>
<dynamics damping="0.05" friction="0.0"/>
</joint>

Expand Down Expand Up @@ -247,7 +247,7 @@
<!-- LINKS -->
<link name="PELVIS_LINK">
<inertial>
<mass value="9.50083635"/>
<mass value="7.161"/>
<origin rpy="0 0 0" xyz="-0.08354287 0.00005291 -0.03484828"/>
<inertia ixx="0.03428688" ixy="0.00001151" ixz="0.00015935" iyy="0.05178848" iyz="0.00004514" izz="0.06001929"/>
</inertial>
Expand Down Expand Up @@ -307,9 +307,9 @@
<!-- LEFT LEG LINKS -->
<link name="LEFT_HIP_X_LINK">
<inertial>
<mass value="2.32977961"/>
<origin rpy="0 0 0" xyz="0.04350911 0.08708606 -0.03525761"/>
<inertia ixx="0.00467452" ixy="-0.00058626" ixz="0.00013124" iyy="0.00516613" iyz="0.00048141" izz="0.00553124"/>
<mass value="2.33165613"/>
<origin rpy="0 0 0" xyz="0.04351434 0.086987705 -0.03525559"/>
<inertia ixx="0.00468897" ixy="-0.00060313" ixz="0.000132015" iyy="0.005175225" iyz="0.000479295" izz="0.00553563"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -364,9 +364,9 @@

<link name="LEFT_HIP_Z_LINK">
<inertial>
<mass value="0.77281362"/>
<origin rpy="0 0 0" xyz="0.04549595 -0.00525571 -0.00937454"/>
<inertia ixx="0.00317639" ixy="0.00005807" ixz="0.00080598" iyy="0.00345182" iyz="0.00047441" izz="0.00313245"/>
<mass value="0.761264535"/>
<origin rpy="0 0 0" xyz="0.045494345 -0.005256775 -0.009374795"/>
<inertia ixx="0.003096815" ixy="-0.00010691" ixz="0.00077348" iyy="0.00336791" iyz="-0.000441415" izz="0.00302853"/>
</inertial>
<visual>
<geometry>
Expand All @@ -377,9 +377,9 @@
</link>
<link name="LEFT_THIGH">
<inertial>
<mass value="7.75"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot) -->
<origin rpy="0 0 0" xyz="0.01417302 0.03268781 -0.10548314"/>
<inertia ixx="0.09264028" ixy="0.00038532" ixz="0.00916409" iyy="0.09733033" iyz="-0.0043516" izz="0.02803877"/>
<mass value="8.281087115"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot); updated to match Alex V2 -->
<origin rpy="0 0 0" xyz="0.01414574 0.032755865 -0.105455545"/>
<inertia ixx="0.092873595" ixy="0.00029855" ixz="0.00920838" iyy="0.09755584" iyz="-0.004288545" izz="0.028067205"/>
</inertial>
<visual>
<geometry>
Expand All @@ -396,9 +396,9 @@
</link>
<link name="LEFT_SHIN">
<inertial>
<mass value="6.31087157"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot) -->
<origin rpy="0 0 0" xyz="0.03807965 -0.00108105 -0.12410027"/>
<inertia ixx="0.08823148" ixy="-0.00054706" ixz="-0.00634132" iyy="0.09163264" iyz="0.00002714" izz="0.01569601"/>
<mass value="6.33845554"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot); updated to match Alex V2 -->
<origin rpy="0 0 0" xyz="0.038078065 -0.0011074 -0.12409396"/>
<inertia ixx="0.08776112" ixy="-0.000537525" ixz="-0.006473595" iyy="0.091103" iyz="0.000168055" izz="0.01567633"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -503,9 +503,9 @@
</link>
<link name="LEFT_FOOT">
<inertial>
<mass value="1.28288609"/>
<mass value="0.810"/>
<origin rpy="0 0 0" xyz="0.03793372 -0.00000219 -0.0443663"/>
<inertia ixx="0.00131328" ixy="0.00001057" ixz="0.00036242" iyy="0.00385286" iyz="-0.0000069" izz="0.00406301"/>
<inertia ixx="0.00082919" ixy="0.000006674" ixz="0.00022883" iyy="0.0024327" iyz="-0.0000044" izz="0.0025653"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -561,9 +561,9 @@
<!-- RIGHT LEG LINKS -->
<link name="RIGHT_HIP_X_LINK">
<inertial>
<mass value="2.32977248"/>
<origin rpy="0 0 0" xyz="0.04351957 -0.08688935 -0.03525357"/>
<inertia ixx="0.00467576" ixy="0.00061004" ixz="0.00013038" iyy="0.00516385" iyz="-0.00047381" izz="0.00552901"/>
<mass value="2.33165613"/>
<origin rpy="0 0 0" xyz="0.04351434 -0.086987705 -0.03525559"/>
<inertia ixx="0.00468897" ixy="0.00060313" ixz="0.000132015" iyy="0.005175225" iyz="-0.000479295" izz="0.00553563"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -618,9 +618,9 @@

<link name="RIGHT_HIP_Z_LINK">
<inertial>
<mass value="0.77281055"/>
<origin rpy="0 0 0" xyz="0.04549274 0.00525784 -0.00937505"/>
<inertia ixx="0.00317639" ixy="-0.00005765" ixz="0.00080587" iyy="0.00345166" iyz="-0.00047466" izz="0.00313223"/>
<mass value="0.761264535"/>
<origin rpy="0 0 0" xyz="0.045494345 0.005256775 -0.009374795"/>
<inertia ixx="0.003096815" ixy="0.00010691" ixz="0.00077348" iyy="0.00336791" iyz="0.000441415" izz="0.00302853"/>
</inertial>
<visual>
<geometry>
Expand All @@ -631,9 +631,9 @@
</link>
<link name="RIGHT_THIGH">
<inertial>
<mass value="7.75"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot) -->
<origin rpy="0 0 0" xyz="0.01411846 -0.03282392 -0.10542795"/>
<inertia ixx="0.09273162" ixy="-0.00026689" ixz="0.00921343" iyy="0.09738701" iyz="0.00422485" izz="0.02802165"/>
<mass value="8.281087115"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot); updated to match Alex V2 -->
<origin rpy="0 0 0" xyz="0.01414574 -0.032755865 -0.105455545"/>
<inertia ixx="0.092873595" ixy="-0.00029855" ixz="0.00920838" iyy="0.09755584" iyz="0.004288545" izz="0.028067205"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -688,9 +688,9 @@

<link name="RIGHT_SHIN">
<inertial>
<mass value="6.31087157"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot) -->
<origin rpy="0 0 0" xyz="0.03807648 0.00113375 -0.12408765"/>
<inertia ixx="0.08705693" ixy="0.00057277" ixz="-0.00674654" iyy="0.090231" iyz="0.00028332" izz="0.01554032"/>
<mass value="6.33845554"/><!-- CAD Mass 6.31087157 (Hacked April 1 2025 to match IRL Scale of whole robot); updated to match Alex V2 -->
<origin rpy="0 0 0" xyz="0.038078065 0.0011074 -0.12409396"/>
<inertia ixx="0.08776112" ixy="0.000537525" ixz="-0.006473595" iyy="0.091103" iyz="-0.000168055" izz="0.01567633"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -747,7 +747,7 @@
<inertial>
<mass value="0.05045632"/>
<origin rpy="0 0 0" xyz="2.94E-07 2.22E-07 -0.00462997"/>
<inertia ixx="0.00001733" ixy="2.12E-10" ixz="-1.26E-10" iyy="0.00000714" iyz="-2.02E-11" izz="0.00001851"/>
<inertia ixx="0.00001733" ixy="-2.12E-10" ixz="-1.26E-10" iyy="0.00000714" iyz="2.02E-11" izz="0.00001851"/>
</inertial>
<visual>
<geometry>
Expand All @@ -758,9 +758,9 @@
</link>
<link name="RIGHT_FOOT">
<inertial>
<mass value="1.28288609"/>
<mass value="0.810"/>
<origin rpy="0 0 0" xyz="0.03793372 -0.00000219 -0.0443663"/>
<inertia ixx="0.00131328" ixy="0.00001057" ixz="0.00036242" iyy="0.00385286" iyz="-0.0000069" izz="0.00406301"/>
<inertia ixx="0.00082919" ixy="0.000006674" ixz="0.00022883" iyy="0.0024327" iyz="-0.0000044" izz="0.0025653"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -816,9 +816,9 @@
<!-- SPINE LINKS -->
<link name="TORSO_LINK">
<inertial>
<mass value="7.0081"/> <!-- Original was 4.352, measured mass of whole robot and put delta into this torso mass (08/12/2025 Stefan and Robert)-->
<mass value="22.210"/> <!-- Original was 4.352, measured mass of whole robot and put delta into this torso mass (08/12/2025 Stefan and Robert); updated to match Alex V2 -->
<origin rpy="0 0 0" xyz="-0.034 0.0 0.297"/>
<inertia ixx="0.077" ixy="9.64E-06" ixz="0.008" iyy="0.068" iyz="7.24E-06" izz="0.033"/>
<inertia ixx="0.35940118" ixy="0.00042074" ixz="0.03637316" iyy="0.36096805" iyz="0.00037731" izz="0.27064087"/>
</inertial>
<visual>
<geometry>
Expand Down Expand Up @@ -952,7 +952,7 @@
<!-- Left Arm -->
<link name="LEFT_SHOULDER_Y_LINK">
<inertial>
<mass value="2.99"/>
<mass value="3.02036119"/>
<origin rpy="0 0 0" xyz="-0.00264 0.12135 -0.006824"/>
<inertia ixx="0.0111046" ixy="0.0002882" ixz="-0.000054" iyy="0.0051699" iyz="0.0009318" izz="0.01176"/>
</inertial>
Expand All @@ -965,7 +965,7 @@
</link>
<link name="LEFT_SHOULDER_X_LINK">
<inertial>
<mass value="0.972"/>
<mass value="1.16159753"/>
<origin rpy="0 0 0" xyz="0.01251711 0.0188309 -0.03849849"/>
<inertia ixx="0.0029485" ixy="0.0001386" ixz="-0.0003345" iyy="0.0023587" iyz="0.0005255" izz="0.0014366"/>
</inertial>
Expand All @@ -978,7 +978,7 @@
</link>
<link name="LEFT_SHOULDER_Z_LINK">
<inertial>
<mass value="2.91"/>
<mass value="3.117556435"/>
<origin rpy="0 0 0" xyz="0.00510403 0.00274 -0.21745"/>
<inertia ixx="0.0267829" ixy="-0.000011" ixz="0.0015998" iyy="0.0265514" iyz="0.0004426" izz="0.003052"/>
</inertial>
Expand Down Expand Up @@ -1224,7 +1224,7 @@
<!-- Right Arm -->
<link name="RIGHT_SHOULDER_Y_LINK">
<inertial>
<mass value="2.99"/>
<mass value="3.02036119"/>
<origin rpy="0 0 0" xyz="-0.00264 -0.12135 -0.006824"/>
<inertia ixx="0.0110394" ixy="-0.0003041" ixz="-0.0000594" iyy="0.0051097" iyz="-0.0009183" izz="0.0116925"/>
</inertial>
Expand All @@ -1237,7 +1237,7 @@
</link>
<link name="RIGHT_SHOULDER_X_LINK">
<inertial>
<mass value="0.972"/>
<mass value="1.16159753"/>
<origin rpy="0 0 0" xyz="0.012489 -0.01882 -0.0385"/>
<inertia ixx="0.002949" ixy="-0.000135" ixz="-0.0003358" iyy="0.0023603" iyz="-0.0005249" izz="0.0014377"/>
</inertial>
Expand All @@ -1250,7 +1250,7 @@
</link>
<link name="RIGHT_SHOULDER_Z_LINK">
<inertial>
<mass value="2.91"/>
<mass value="3.117556435"/>
<origin rpy="0 0 0" xyz="0.00524 -0.00274 -0.21745"/>
<inertia ixx="0.0248699" ixy="0.0000211" ixz="0.0000211" iyy="0.0245973" iyz="-0.0004444" izz="0.0029883"/>
</inertial>
Expand Down Expand Up @@ -1534,4 +1534,4 @@
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
</link>
</robot>
</robot>
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