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unitree_mujoco
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edit urdf and xml

This commit is contained in:
Hongbo Zhu 2021-11-02 15:07:10 +08:00
parent 2f335b6c5a
commit dd4aaa816f
6 changed files with 6 additions and 6 deletions
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2
data/a1/urdf/a1.urdf
View File

@ -50,7 +50,7 @@
</joint>
</xacro:if> -->
<link name="world"/>
<joint name="floating_base" type="floating">
<joint name="" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="trunk"/>

2
data/a1/urdf/a1.xml
View File

@ -35,7 +35,7 @@
<body name="trunk" pos="0 0 0.5">
<inertial pos="0.0127283 0.00218554 0.000514891" quat="0.00186575 0.711506 0.000389649 0.702677" mass="4.714" diaginertia="0.0648213 0.0565803 0.0169323" />
<joint name="floating_base" type="free" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
<geom size="0.1335 0.097 0.057" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.0005 0.0005 0.0005" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />

2
data/aliengo/urdf/aliengo.urdf
View File

@ -49,7 +49,7 @@
</joint>
</xacro:if> -->
<link name="world"/>
<joint name="floating_base" type="floating">
<joint name="" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="trunk"/>

2
data/aliengo/urdf/aliengo.xml
View File

@ -34,7 +34,7 @@
<body name="trunk" pos="0 0 0.5">
<inertial pos="0.00846406 0.00404455 -0.000762916" quat="-3.12625e-05 0.708321 0.00247254 0.705886" mass="9.042" diaginertia="0.174706 0.161175 0.033357" />
<joint name="floating_base" type="free" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
<geom size="0.3235 0.075 0.056" type="box" rgba="0.2 0.2 0.2 0" />
<geom size="0.0005 0.0005 0.0005" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />

2
data/laikago/urdf/laikago.urdf
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@ -41,7 +41,7 @@
</material>
<link name="world"/>
<joint name="floating_base" type="floating">
<joint name="" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="trunk"/>

2
data/laikago/urdf/laikago.xml
View File

@ -33,7 +33,7 @@
<body name="trunk" pos="0 0 0.55">
<inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
<joint name="floating_base" type="free" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
<geom size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="0.2 0.2 0.2 0" />
<body name="FR_hip" pos="0.21935 -0.0875 0">