updates

2021-02-24 15:37:54 +01:00
parent 60e1673ee1
commit 7e988758fe
52 changed files with 550 additions and 13 deletions
@@ -1,5 +1,5 @@
 <mujoco model="wam(v1.31)">
-    <compiler angle="radian" meshdir="meshes/" />
+    <compiler angle="radian" meshdir="../../meshes/wam/" />
    <option timestep="0.0005" integrator="Euler" />
    <size njmax="500" nconmax="100" />
    <default class="main">
@@ -286,7 +286,7 @@
                                                                                                                                                                    <joint name="J1_29" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
                                                                                                                                                                    <geom name="G29" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
                                                                                                                                                                    <body name="ball">
-                                                                                                                                                                        <geom name="ball_geom" type="sphere" size="0.02" mass="0.021" rgba="0.8 0.2 0.1 1"/>
+                                                                                                                                                                        <geom name="ball_geom" type="sphere" size="0.02" mass="0.015" rgba="0.8 0.2 0.1 1"/>
                                                                                                                                                                    </body>
                                                                                                                                                                </body>
                                                                                                                                                            </body>