Commit 0bd033fc authored by Wolfgang Merkt's avatar Wolfgang Merkt
Browse files

anymal_b_simple_description: Add missing inertia, fix for simulator

parent eb25ae5c
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from anymal.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | This URDF was edited to fix inertias. | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot name="anymal"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
......@@ -100,21 +100,26 @@
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<!-- <joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</joint> -->
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<!-- <link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
</link>
</link> -->
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
......@@ -278,6 +283,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
<inertial>
<mass value="0.001"/>
<inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
<!-- for a sphere: 2/5 m * r**2 -->
</inertial>
<!-- Bullet specific parameters -->
<contact>
<lateral_friction value="1.0"/>
<stiffness value="300000"/>
<damping value="15000"/>
<!--<restitution value="0.5"/>-->
</contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
......@@ -449,6 +466,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
<inertial>
<mass value="0.001"/>
<inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
<!-- for a sphere: 2/5 m * r**2 -->
</inertial>
<!-- Bullet specific parameters -->
<contact>
<lateral_friction value="1.0"/>
<stiffness value="300000"/>
<damping value="15000"/>
<!--<restitution value="0.5"/>-->
</contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
......@@ -620,6 +649,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
<inertial>
<mass value="0.001"/>
<inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
<!-- for a sphere: 2/5 m * r**2 -->
</inertial>
<!-- Bullet specific parameters -->
<contact>
<lateral_friction value="1.0"/>
<stiffness value="300000"/>
<damping value="15000"/>
<!--<restitution value="0.5"/>-->
</contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
......@@ -791,6 +832,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
<inertial>
<mass value="0.001"/>
<inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
<!-- for a sphere: 2/5 m * r**2 -->
</inertial>
<!-- Bullet specific parameters -->
<contact>
<lateral_friction value="1.0"/>
<stiffness value="300000"/>
<damping value="15000"/>
<!--<restitution value="0.5"/>-->
</contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
......
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