diff options
| author | Damian Bemben <dbemben1@sheffield.ac.uk> | 2019-03-10 22:41:40 +0000 |
|---|---|---|
| committer | fuchuyuan <fuchuyuan.kelly@gmail.com> | 2019-03-11 10:12:38 -0700 |
| commit | 2ca6172f1ab957b0123f07cfd84b9e7443019213 (patch) | |
| tree | 7f39349eaf87d0eec5463157d03d1b3046e4fcdf | |
| parent | 550f4c478534ac98b3df657867117052afa151d9 (diff) | |
| download | bullet3-2ca6172f1ab957b0123f07cfd84b9e7443019213.tar.gz | |
Fixing issue where mass of motors is uneven
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/laikago/laikago.urdf | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf index 62e7e47b6..57b0a59b3 100644 --- a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf @@ -36,7 +36,7 @@ </contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
- <mass value="0.241"/>
+ <mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
@@ -262,7 +262,7 @@ </contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
- <mass value="0.241"/>
+ <mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
|