Add ability to modify mass, radius, density and length, for both limbs and single links

icub-tech-iit / ergocub-gazebo-simulations

Repository containing the models and the simulations for ergoCub

BSD 3-Clause "New" or "Revised" License

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Closed GrmanRodriguez closed 2 years ago

GrmanRodriguez commented 2 years ago

This PR expands the functionality of ergocub-gazebo-simulations in two ways:

Now it is possible to modify mass, density, length and radius for any given element. Furthermore, the modifications can be either absolute or a relative scaling.
Single links can now be modified independently of the rest of their respective limb by adding their name in the ini file.

Changes has been tested and they work properly.