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robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.
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Problems with iCub 3 inertias #53

Open Nicogene opened 3 years ago

Nicogene commented 3 years ago

The model of iCub 3 explodes if using the masses and inertias of the right and left arm, exported from simmechanics. This happens only if they are controlled with the controlboard.

This happens both with ode and dart physical engine.

Setting ixx, iyy, izz to 0.01 solves this issue, or rather worked around the problem.

traversaro commented 3 years ago

Related PR: https://github.com/robotology/icub-model-generator/pull/147 .

cc @S-Dafarra @GiulioRomualdi @prashanthr05

Nicogene commented 3 years ago

A similar issue is present for the elements composing the feet (see #60 and related PR https://github.com/robotology/icub-model-generator/pull/160)