cyy/sim2sim_mujoco_example
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

edit xml and python script

Browse Source
This commit is contained in:
Hongbo Zhu
2021-11-02 12:21:40 +08:00
parent 17814158fe
commit 62f3f933c2
8 changed files with 563 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
data/laikago/urdf/laikago.urdf
View File

@@ -4,6 +4,14 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="laikago_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<mujoco>
<compiler
meshdir="../meshes/"
balanceinertia="true"
discardvisual="false" />
</mujoco>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
@@ -32,13 +40,20 @@
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="world"/>
<joint name="floating_base" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/trunk.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01675"/>