{"action":"created","issue":{"url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/16","repository_url":"https://api.github.com/repos/robotology-playground/icub-model-generator","labels_url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/16/comments","events_url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/16/events","html_url":"https://github.com/robotology-playground/icub-model-generator/issues/16","id":170127591,"number":16,"title":"Sole mismatch in iCubHeidelberg01 model","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":9,"created_at":"2016-08-09T09:59:14Z","updated_at":"2016-08-09T13:05:12Z","closed_at":null,"body":""},"comment":{"url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/comments/238546125","html_url":"https://github.com/robotology-playground/icub-model-generator/issues/16#issuecomment-238546125","issue_url":"https://api.github.com/repos/robotology-playground/icub-model-generator/issues/16","id":238546125,"user":{"login":"hu-yue","id":7060968,"avatar_url":"https://avatars.githubusercontent.com/u/7060968?v=3","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"created_at":"2016-08-09T13:05:12Z","updated_at":"2016-08-09T13:05:12Z","body":"@traversaro I checked the files you linked. First of all (assuming that `koroibot = iCubHeidelberg`), I see that the leg masses in the table are not exactly the same I have in the `iCubHeidelberg` URDF (small variations), the total is therefore also a little different (7.0712 in `iCubHeidelberg`). I also see that in the `xlsx` file there are small differences between left and right legs masses, which do not apply to the `iCubHeidelberg` model, where the masses of left and right are exactly the same. \r\n\r\nThen from the `yaml` options I see that the legs of the `iCubGenova02` are about 1 kg lighter per leg, which amounts to a difference of about 2 kg in the model (and therefore with the actual robot), I think the difference is a bit too big for our methods, this might cause problems/inconsistent results in the model based ocp.\r\n\r\nOf course we have never unmounted the robot's legs to weight them, so they might as well weight as the ones of `iCubGenova02`, however if we just replace the legs with the ones from `iCubGenova02` then there would be this 2 kg mismatch between the actual robot and the model."}}
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