From 8bf4bcd52780101e16e12e4c64eac559ddfe0c44 Mon Sep 17 00:00:00 2001
From: Pierre-Alexandre Leziart <paleziart@laas.fr>
Date: Fri, 8 Dec 2023 16:46:20 +0100
Subject: [PATCH] Fix wrong position of the center of mass for Solo-8 and
Solo-12 lower legs
---
robots/solo_description/robots/solo.urdf | 4 ++--
robots/solo_description/robots/solo12.urdf | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/robots/solo_description/robots/solo.urdf b/robots/solo_description/robots/solo.urdf
index a32d660..6c335fb 100644
--- a/robots/solo_description/robots/solo.urdf
+++ b/robots/solo_description/robots/solo.urdf
@@ -234,7 +234,7 @@
<link name="FR_LOWER_LEG">
<!-- Right lower leg inertia -->
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+ <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
<mass value="0.03070001"/>
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
</inertial>
@@ -504,7 +504,7 @@
<link name="HR_LOWER_LEG">
<!-- Right lower leg inertia -->
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+ <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
<mass value="0.03070001"/>
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
</inertial>
diff --git a/robots/solo_description/robots/solo12.urdf b/robots/solo_description/robots/solo12.urdf
index 80d0e76..ecd62e9 100644
--- a/robots/solo_description/robots/solo12.urdf
+++ b/robots/solo_description/robots/solo12.urdf
@@ -312,7 +312,7 @@
<link name="FR_LOWER_LEG">
<!-- Right lower leg inertia -->
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+ <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
<mass value="0.03070001"/>
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
</inertial>
@@ -660,7 +660,7 @@
<link name="HR_LOWER_LEG">
<!-- Right lower leg inertia -->
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.00787644 -0.08928215"/>
+ <origin rpy="0 0 0" xyz="0.0 -0.00787644 -0.08928215"/>
<mass value="0.03070001"/>
<inertia ixx="0.00012024" ixy="0.0" ixz="0.0" iyy="0.00012029" iyz="-0.00000305" izz="0.00000216"/>
</inertial>
--
GitLab