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prepare to create coordinate frame demo, minor cleanup for create funcs in demo entries,

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fix r2d2.urdf inertia
This commit is contained in:
erwin coumans
2014-12-12 18:14:49 -08:00
parent cf2b4e03b5
commit 122fabac87
11 changed files with 433 additions and 82 deletions
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data/r2d2.urdf
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@@ -38,6 +38,7 @@
</collision>
<inertial>
<mass value="10"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -145,6 +146,7 @@
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</inertial>
</link>