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Westwood-Robotics / BRUCE_simulation_models

BRUCE_simulation_models
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Update needed for MuJoCo Model #3

Open xzhang-wr opened 1 month ago

xzhang-wr commented 1 month ago

We recently noticed a bug on the GAZEBO model: the HIP_ROLL and HIP_PITCH joints are in the wrong order. It is ordered as: YAW->ROLL->PITCH but the correct order is: YAW->PITCH->ROLL

This has been fixed for the GAZEBO model with recent commit a6e32f6 and commit b3e10d9, but MuJoCo model still needs to be updated. @lgkimjy

lgkimjy commented 1 month ago

@xzhang-wr I believe I could update the MuJoCo model this week, also changing the model from using diagonal inertia to using full inertia in XML. I will PR after the correction.