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PR2 / pr2_common

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Dummy masses - can they be removed yet? #287

Open jesseli2002 opened 3 years ago

jesseli2002 commented 3 years ago

There's a couple of dummy masses with notes saying "to be removed" - can they be taken out, or at least be documented to indicate why they still need to be there and when they can be removed?

Specific locations - upper_arm.urdf.xacro, shoulder.urdf.xacro, forearm.urdf.xacro. Searching for "dummy" brings them up.

I can submit a PR if there's no reason to keep them.

v4hn commented 3 years ago

Try removing them and load a Gazebo environment. It seems the inertial tags where specified because they were not optional in some tool that read the description.

The specified values (100g mass for all components and low diagonal inertia matrices) clearly do not make much sense.