Fixing asymmetry in Talos model #160
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@saikishor Can I get your quick LGTM? |
saikishor
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Apr 4, 2025
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You are right. LGTM.
Recently, we observed it on our URDF too.
Thank you
kevinzakka
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Apr 4, 2025
donghoon11
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May 7, 2025
PiperOrigin-RevId: 745941947 Change-Id: Ib4e61f8d9ebfdfac9716ad45e7c5f526426c88cb
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The inertia of the first link of the left leg "leg_left_1_link" had the same pos and quat of the right leg link, making the system asymmetrical, while in reality, Talos legs are symmetric with respect to the sagittal plane