idyntree-model-info -m model.urdf --total-mass
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type depth
[WARNING] SensorElement :: setAttributes : iDynTree does not support sensor of type camera
The total mass of model is 52.0102 Kg.
Note that there was the need of recomputing the inertias since the mass changed, I used directly the script inside ergocub gazebo simulator to perform the computation for the changes.
:warning: the mass of the robot is not exactly equal to the one of icub3 but there are new links (such as the lidar) that increase the mass of the robot.
Since I was already there I have:
Substitute Nan with zeros for the base_link_fixed_joint; #8
Substitute the continuous joint with a revolute one for the r_wrist_yaw and add the limits; #13
Removed the masses for the fictitious links l_sole, r_sole, imu_frame, and base_link as it is in iCub3
Nicogene
commented
2 years ago
This PR addresses #15 and changes the links masses as per https://github.com/robotology/icub-models/issues/94, now the robot weight is equal to
Note that there was the need of recomputing the inertias since the mass changed, I used directly the script inside ergocub gazebo simulator to perform the computation for the changes. :warning: the mass of the robot is not exactly equal to the one of icub3 but there are new links (such as the lidar) that increase the mass of the robot.
Since I was already there I have:
base_link_fixed_joint; #8r_wrist_yawand add the limits; #13l_sole,r_sole,imu_frame, andbase_linkas it is in iCub3C.C. @AlexAntn @GrmanRodriguez @Nicogene @lrapetti @DanielePucci