enable generic mass and inertia

Author: cambel

cartesian_controller_base/src/ForwardDynamicsSolver.cpp

@@ -216,11 +216,11 @@ bool ForwardDynamicsSolver::buildGenericModel() {
 
   // Only give the last segment a generic mass and inertia.
   // See https://arxiv.org/pdf/1908.06252.pdf for a motivation for this setting.
-  // double m = 1;
-  // double ip = 1;
-  // m_chain.segments[m_chain.segments.size() - 1].setInertia(
-  //     KDL::RigidBodyInertia(m, KDL::Vector::Zero(),
-  //                           KDL::RotationalInertia(ip, ip, ip)));
+  double m = 1;
+  double ip = 1;
+  m_chain.segments[m_chain.segments.size() - 1].setInertia(
+      KDL::RigidBodyInertia(m, KDL::Vector::Zero(),
+                            KDL::RotationalInertia(ip, ip, ip)));
 
   return true;
 }