Why are the parameter "a1_robot_mass" different in config folders?
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ch1102256774 commented
Hello, i found that the parameter "a1_robot_mass" is different in the "config" folder's yaml files. In "gazebo_a1_mpc.yaml" and "gazebo_a1_mpc.yaml"(line 6), the value is 12.0 :
# physics parameters
a1_robot_mass: 12.0
but in "hardware_a1_mpc.yaml" and "hardware_a1_mpc.yaml", the value has changed to 13.5 and 15.0
# physics parameters(qp)
a1_robot_mass: 15.0
————————————————————————————————————————
# physics parameters(mpc)
a1_robot_mass: 13.5
i want to know why the mass is different in two methods. Besides, i also found that the parameter "a1_trunk_inertia_xx" is also different in in "hardware_a1_mpc.yaml" and in "gazebo_a1_mpc.yaml".
Looking forward to your reply.
ShuoYangRobotics commented
Because my hardware robot has a different mass and inertia than the robot in gazebo. Your hardware robot may have different mass/inertia properties depends on what payload you have. You should change them accordingly.