add back imu sensor (#14)

kscalelabs · Feb 3, 2025 · 93f850f · 93f850f
1 parent bd08c26
commit 93f850f
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Showing 10 changed files with 438 additions and 2,970 deletions.
diff --git a/tests/sample/meshes/gpr-20241204.mjcf b/tests/sample/meshes/gpr-20241204.mjcf
diff --git a/tests/sample/meshes/gpr-20241204.urdf b/tests/sample/meshes/gpr-20241204.urdf
diff --git a/tests/sample/meshes/k-bot.mjcf b/tests/sample/meshes/k-bot.mjcf
diff --git a/tests/sample/meshes/k-bot.urdf b/tests/sample/meshes/k-bot.urdf
diff --git a/tests/sample/meshes/k-bot_sim.mjcf b/tests/sample/meshes/k-bot_sim.mjcf
diff --git a/tests/sample/meshes/k-bot_sim.urdf b/tests/sample/meshes/k-bot_sim.urdf
diff --git a/tests/sample/metadata.json b/tests/sample/metadata.json
@@ -0,0 +1,15 @@
+{
+  "joint_params": {
+    "default": {
+      "kp": 150,
+      "kd": 10
+    }
+  },
+  "imus": [
+    {
+      "link_name": "base_link",
+      "pos": [0.0, 0.0, 0.0],
+      "quat": [1.0, 0.0, 0.0, 0.0]
+    }
+  ]
+}