Disney BD-X USD Description

This repository contains the USD Description file for the BD-X robot from Disney. It is derived from the original AWD repository. The license is a NVIDIA License

Changes Made:

• Mesh Format: The original meshes were converted to .dae format to allow texture application in Blender.
• URDF Modifications:
  • Replaced original .urdf with one that uses the modified .dae meshes.
  • Removed the silver material previously applied to all parts.
  • Eliminated the transmissions and gazebo tags.
  • Added <dynamics damping="0.0" friction="0.0"/> to each revolute joint.

These modified files can be found in the urdf directory.

Visuals:

• USD Model Preview:

• Locomotion Video:

rl-video-step-22000.mp4