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Gepetto / example-robot-data

Set of robot URDFs for benchmarking and developed examples.
BSD 3-Clause "New" or "Revised" License
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Fix Panda inertials, add SRDF #147

Closed wxmerkt closed 1 year ago

wxmerkt commented 1 year ago

Fixes #122

wxmerkt commented 1 year ago

Also, I think this is a good thing to update this inertia, but I'm afraid this might break benchmarks or other reproducible tests relying on the current values. But I guess we'll only have to advertise this correctly in release notes.

I don't think we need to worry about this: We haven't used it in benchmarks yet to my knowledge - and couldn't due to the zero inertials - i.e. that was the reason behind #122 and the original issue upstream in Crocoddyl about failed optimisation (due to zero inertials).