A factor of 10 for values in an inertia matrix is not insignificant.
I think the 6 commonly used model files are probably close (someone should closely inspect the diffs to be sure), but the two less-used ones, thor and zeus, seem very different in some sections.
darrenchurchill
commented
5 years ago
I've noticed some of the rover SDF files have very different mass and inertia definitions for some links.
For example: https://github.com/BCLab-UNM/SwarmBaseCode-ROS/blob/112118744de6d3fc12b3f29c0b1918dd0eb4075d/simulation/models/achilles/model.sdf#L7-L17
https://github.com/BCLab-UNM/SwarmBaseCode-ROS/blob/112118744de6d3fc12b3f29c0b1918dd0eb4075d/simulation/models/thor/model.sdf#L7-L17
A factor of 10 for values in an inertia matrix is not insignificant.
I think the 6 commonly used model files are probably close (someone should closely inspect the diffs to be sure), but the two less-used ones, thor and zeus, seem very different in some sections.