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

use the right mass for the rotational part of motors.

Browse Source
This commit is contained in:
Jie
2018-01-02 18:53:38 -08:00
parent b35f6300a4
commit de11d71246
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
data/quadruped/minitaur_rainbow_dash.urdf
View File

@@ -97,7 +97,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.644"/> <mass value="1.32"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial> </inertial>
</link> </link>
@@ -171,7 +171,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value="0.644"/> <mass value="1.32"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/> <inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial> </inertial>
</link> </link>
@@ -198,7 +198,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -225,7 +225,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -252,7 +252,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -279,7 +279,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -306,7 +306,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -333,7 +333,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -360,7 +360,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>
@@ -387,7 +387,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<mass value=".241"/> <mass value=".072"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/> <inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial> </inertial>
</link> </link>