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ADVRHumanoids / iit-centauro-ros-pkg

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Possible wrong dagana inertia in urdf #39

Closed IoannisDadiotis closed 1 year ago

IoannisDadiotis commented 1 year ago

The inertia of the dagana looks quite strange to me, especially the 'dagana_bottom_link'. The CoM is quite far located from the link and the principal axes look misoriented. Below the visualization in gazebo (branch big_wheels).

@alaurenzi what do you think? FYI @torydebra

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alaurenzi commented 1 year ago

thanks for pointing this out, it has been fixed in iit-dagana-ros-pkg