What are the different urdfs and which one was used for transfering to the real robot

[dhruvkm2402]

Hello,
Thank you for this repository. I wanted know what is the difference between diablo.urdf and diablo_asm.urdf? Which one has been used for training and then transfering it to the actual robot?

[L-SY]

diablo_asm is the mean of Approximate same model, it has smaller difference between the real model

• change the base_link and firtst leg mass
• let two little leg as the move link rather than the longger

[L-SY]

I use the diablo_asm right now, basiclly the diablo.urdf is abandoned