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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 wrong position of the center of mass for Solo-8 and Solo-12 lower legs #197

Closed paLeziart closed 7 months ago

paLeziart commented 7 months ago

This PR fixes a small mistake in the position of the center of mass for the lower leg inertia, causing the center of mass to be slightly sideways although the robot should be symmetric.

Using:

# Compute CoM position
q0 = pin.neutral(model)
pin.centerOfMass(model, data, q0)
print(data.com[0])

returns [ 0. 0.00038689 -0.03449762] before the fix, and [ 0. 0. -0.03449762] after.