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Problems with iCub 3 inertias #53

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Nicogene opened this issue Oct 20, 2020 · 2 comments
Open

Problems with iCub 3 inertias #53

Nicogene opened this issue Oct 20, 2020 · 2 comments
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icub3

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@Nicogene
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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
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Related PR: robotology/icub-models-generator#147 .

cc @S-Dafarra @GiulioRomualdi @prashanthr05

@Nicogene Nicogene mentioned this issue Oct 20, 2020
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@traversaro traversaro mentioned this issue Oct 23, 2020
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@Nicogene Nicogene changed the title Problems with iCub 3 arms inertias Problems with iCub 3 inertias Oct 29, 2020
@Nicogene
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A similar issue is present for the elements composing the feet (see #60 and related PR robotology/icub-models-generator#160)

@Nicogene Nicogene mentioned this issue Mar 16, 2021
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@traversaro @Nicogene