I updated the inertial values based on the most updated CAD files from @fgrimminger. Basically, the main changes are that the lower legs are lighter and it does not have the foot dummy piece. Also some inertial values are more precise now compared to the previous version.
How I Tested
I checked both in simulation and real robot and have not observed any changes visible in the results, hence most probably there is no mistake.
Description
I updated the inertial values based on the most updated CAD files from @fgrimminger. Basically, the main changes are that the lower legs are lighter and it does not have the foot dummy piece. Also some inertial values are more precise now compared to the previous version.
How I Tested
I checked both in simulation and real robot and have not observed any changes visible in the results, hence most probably there is no mistake.