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Fixing issue where mass of motors is uneven

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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!
This commit is contained in:
Damian Bemben
2019-03-10 22:41:40 +00:00
committed by GitHub
parent 31ce4e0e57
commit b027bc92df
1 changed files with 2 additions and 2 deletions
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examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
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@@ -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>