cyy/sim2sim_mujoco_example
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edit urdf and xml

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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/aliengo/urdf/aliengo.urdf
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@@ -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" />