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This PR contains the following changes that allow the quadruped's URDF to be run in Gazebo:

  • Added optional LIDAR sensor
  • Added ros_control plugin
  • Added transmissions for joint actuation in Gazebo
  • Added friction parameters on foot mesh
  • Lessened aggressive joint parameters
  • Centered leg parts' CoM
  • Fixed mesh color to appear in Gazebo by explicit declaration of color using 'gazebo' tag

@moribots moribots merged commit fd648d2 into OpenQuadruped:spot Aug 7, 2020
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moribots commented Aug 7, 2020

Incredible work Juan, thank you!

moribots added a commit that referenced this pull request Oct 15, 2020
Working Gazebo model
moribots added a commit that referenced this pull request Oct 15, 2020
Working Gazebo model
moribots added a commit that referenced this pull request Oct 15, 2020
Working Gazebo model

Former-commit-id: a98f7cc
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2 participants