From 1837f6e4b96f21361959d164efacd0e48e4bcc05 Mon Sep 17 00:00:00 2001
From: Arnau Marzabal Gatell <amarzabal@iri.upc.edu>
Date: Wed, 18 Oct 2023 16:07:56 +0200
Subject: [PATCH] mass and com estimation
---
launch/mass_and_com_estimation.launch | 2 +-
yaml/mass_and_com_estimation.yaml | 5 +++--
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/launch/mass_and_com_estimation.launch b/launch/mass_and_com_estimation.launch
index f7f53b0..2908375 100644
--- a/launch/mass_and_com_estimation.launch
+++ b/launch/mass_and_com_estimation.launch
@@ -12,7 +12,7 @@
<arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
<arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
- <arg name="bag" default="rosbag_borinot_real_hover_V0_with_pose_nc"/>
+ <arg name="bag" default="rosbag_borinot_real_rpy_V3_ok"/>
<!--VISUALIZATION-->
diff --git a/yaml/mass_and_com_estimation.yaml b/yaml/mass_and_com_estimation.yaml
index e6f14dd..4cfbdd8 100644
--- a/yaml/mass_and_com_estimation.yaml
+++ b/yaml/mass_and_com_estimation.yaml
@@ -66,8 +66,9 @@ config:
# Dynamics
com: [0.00,0.00,0.0] # center of mass [m]
- inertia: [0.0134943,0.0141622,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
- mass: 2 # mass [kg]
+ inertia: [0.017,0.017,0.029] # moments of inertia i_xx, i_yy, i_zz [kg m2]
+ mass: 2
+ bias: [0,0,0,0,0,0] # mass [kg]
com_fix: false
inertia_fix: true
mass_fix: false
--
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