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make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.

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Jie Tan
2017-02-08 17:26:36 -08:00
parent 07ba9f6629
commit 4df8b27626
4 changed files with 15 additions and 12 deletions
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2
data/plane.urdf
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@@ -2,7 +2,7 @@
<robot name="cube.urdf">
<link name="planeLink">
<contact>
<lateral_friction value="1.5"/>
<lateral_friction value="2"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>

2
data/quadruped/quadruped.urdf
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@@ -15,7 +15,7 @@
</geometry>
</collision>
<inertial>
<mass value="1."/>
<mass value="3.2"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>