diff options
| author | Damian Bemben <dbemben1@sheffield.ac.uk> | 2019-03-10 22:41:40 +0000 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-03-10 22:41:40 +0000 |
| commit | b027bc92df7c2ffd625a9205656bfc584777c91f (patch) | |
| tree | 7f39349eaf87d0eec5463157d03d1b3046e4fcdf /examples/pybullet | |
| parent | 31ce4e0e57ddb2bc8a23ebc371b627eaff813aa3 (diff) | |
| download | bullet3-b027bc92df7c2ffd625a9205656bfc584777c91f.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!
Diffstat (limited to 'examples/pybullet')
| -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>
|