From 2ca6172f1ab957b0123f07cfd84b9e7443019213 Mon Sep 17 00:00:00 2001
From: Damian Bemben <dbemben1@sheffield.ac.uk>
Date: Sun, 10 Mar 2019 22:41:40 +0000
Subject: 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!
---
 examples/pybullet/gym/pybullet_data/laikago/laikago.urdf | 4 ++--
 1 file 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>
 	
-- 
cgit v1.2.1