icub3: remove (almost) all the mass/inertia workaround #194
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Except the small inertia fixes and the asymmetry between l_upperarm and r_upperarm that remains an open point
Nicogene
requested review from
traversaro,
prashanthr05,
GiulioRomualdi and
S-Dafarra
Nicogene
changed the title
traversaro
approved these changes
Jan 14, 2021
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Look fine for me, but as @Nicogene mentioned a check may be a good idea. |
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That looks nice. The best thing would be testing it on the robot, but I don't feel so confident in changing it now 🤔 |
Sure! Perhaps you could give it a run on Gazebo to start with, as a first validation step. |
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We were about to try, but I realized only now the corresponding |
Not at the moment. Indeed, if @Nicogene agrees we can simply merge #194 to simplify deployment and then we do eventual new fixes as new PRs. To clarify, merging this PR in |
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Except the small inertia fixes and the asymmetry between
l_upperarmandr_upperarmthat remains an open pointThe COM should be higher now because with @salvi-mattia noticed that when I put the same masses between r and l for the ankle I wrongly took the bigger one
Here is the model
Before merging, @S-Dafarra @prashanthr05 @GiulioRomualdi could you please test the model?
cc @salvi-mattia @pattacini