Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added Microtaur URDF file, with basic system identification

Browse Source 
See https://www.youtube.com/watch?v=UmGnLgpEVTE
This commit is contained in:
Erwin Coumans
2019-05-21 22:33:16 -04:00
parent 7b06293a97
commit af5bfb4089
14 changed files with 2066 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
examples/pybullet/gym/pybullet_data/quadruped/microtaur/xavier.urdf Normal file
View File

@@ -0,0 +1,29 @@
<?xml version="0.0" ?>
<robot name="xavier">
<link name="baseLink">
<contact>
<lateral_friction value="0.3"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.64"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.045 -0.045 -0.018"/>
<geometry>
<mesh filename="xavier.stl" scale="1.0 1.0 1.0"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.092 0.105 0.045"/>
</geometry>
</collision>
</link>
</robot>