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fix: add joints dynamical parameters for gazebo simulation #25

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fix: add joints dynamical parameters for gazebo simulation #25

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MarcoMagriDev
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To achieve a stable behavior of the robot controlled in gazebo simulation the dynamical parameters of the joints are adjusted as suggested here

@MatthijsBurgh
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@MarcoMagriDev the values in this PR are 10x bigger than in the mentioned issue. Any reason?

@MarcoMagriDev
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@MatthijsBurgh
Since it has been a long time since I submitted the request, I hope I remember correctly.
The proposed values are different from those mentioned in the issues for two reasons:

  • the robot dynamic parameters (masses, intertias) are different
  • the simulation step that i have used (0.001s) is smaller than the one related to the issue

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@MarcoMagriDev @MatthijsBurgh