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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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inertial value of hip2 is not correct #4

Closed matheecs closed 5 months ago

matheecs commented 10 months ago

https://github.com/DRCL-USC/Hector_Simulation/blob/958c5e2524250129b912471934aed6726e60db57/Hector_ROS_Simulation/hector_description/xacro/const.xacro#L92

inertia must satisfy A + B >= C, please fix it

cyoahs commented 10 months ago

There might be a missing "mirror" in the origin of the inertial for hip and hip2. With the current value the robot is not symmetric...

junhengl commented 10 months ago

Good catch, we will update the MoI values accordingly, The hip2 plate was oriented incorrectly when grabbing these data.